In real-world field operations, aerial grasping systems face significant challenges in dynamic environments due to strong winds, shifting surfaces, and the need to handle heavy loads. Particularly when dealing with heavy objects, the powerful propellers of the drone can inadvertently blow the target object away as it approaches, making the task even more difficult. To address these challenges, we introduce SPIBOT, a novel drone-tethered mobile gripper system designed for robust and stable autonomous target retrieval. SPIBOT operates via a tether, much like a spider, allowing the drone to maintain a safe distance from the target. To ensure both stable mobility and secure grasping capabilities, SPIBOT is equipped with six legs and sensors to estimate the robot's and mission's states. It is designed with a reduced volume and weight compared to other hexapod robots, allowing it to be easily stowed under the drone and reeled in as needed. Designed for the 2024 MBZIRC Maritime Grand Challenge, SPIBOT is built to retrieve a 1kg target object in the highly dynamic conditions of the moving deck of a ship. This system integrates a real-time action selection algorithm that dynamically adjusts the robot's actions based on proximity to the mission goal and environmental conditions, enabling rapid and robust mission execution. Experimental results across various terrains, including a pontoon on a lake, a grass field, and rubber mats on coastal sand, demonstrate SPIBOT's ability to efficiently and reliably retrieve targets. SPIBOT swiftly converges on the target and completes its mission, even when dealing with irregular initial states and noisy information introduced by the drone.

翻译：在实际的野外作业中，空中抓取系统在动态环境中面临重大挑战，包括强风、移动的表面以及需要处理重负载。特别是在处理重物时，无人机强大的螺旋桨在接近目标物体时可能会无意中将其吹走，使得任务更加困难。为应对这些挑战，我们提出了SPIBOT，一种新颖的无人机系留移动夹持器系统，专为鲁棒且稳定的自主目标抓取而设计。SPIBOT通过一根系绳操作，类似于蜘蛛，使无人机能够与目标保持安全距离。为确保稳定的移动性和可靠的抓取能力，SPIBOT配备了六条腿和用于估计机器人及任务状态的传感器。与其他六足机器人相比，其设计具有更小的体积和重量，使其能够轻松收纳在无人机下方，并可根据需要收放。为2024年MBZIRC海上大挑战赛设计，SPIBOT旨在船舶移动甲板的高度动态条件下抓取1公斤的目标物体。该系统集成了一个实时动作选择算法，该算法根据接近任务目标和环境条件动态调整机器人的动作，从而实现快速且鲁棒的任务执行。在不同地形（包括湖上的浮桥、草地和沿海沙地上的橡胶垫）上的实验结果表明，SPIBOT能够高效可靠地抓取目标。即使面对不规则的初始状态和无人机引入的噪声信息，SPIBOT也能迅速锁定目标并完成任务。