Modular Robots – Page 2 – ModLab

Reconfiguration Solution of a Variable Topology Truss: Design and Experiment

by Jangho BaeModular Robots, VTT May 22, 2022July 7, 202221 Comments

Fig. 1. Conceptual images of the VTT performing a search and rescue mission on a disaster site. (a) Locomotion; (b) arriving at the destination; (c) the master node grasping the target truss; (d) moving of the target truss; (e) finishing reconfiguration; (f) shoring up. VTT comprises “members,” and “nodes.” Nodes are located at the …

Topological Reconfiguration Planning for a Variable Topology Truss

by Alexander SpinosModular Robots, VTT May 21, 2022July 7, 202223 Comments

Variable Topology Trusses (VTT) are a new class of self-reconfigurable robot. A VTT consists of linear actuators for the truss members, which are joined at the truss nodes by a special reconfigurable spherical joint. The VTT can reconfigure by merging and splitting these truss nodes. This article covers the contributions of our journal article about …

Polygon-based Random Tree Search Planning for Variable Geometry Truss Robot

by Jangho BaeModular Robots, VTT May 21, 2022July 7, 202225 Comments

Variable Topology Truss (VTT) is an improved Variable Geometry Truss that can change its topology. We designed the VTT as an octahedron shape by considering topology reconfiguration. The most important task of VTT is locomotion to a random goal position. Previously we used Rapid Random Tree (RRT) to find a trajectory of the center of …