Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion

by Chao LiuModular Robots, VTTPosted on 4 Comments

Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many edge modules that can be rearranged into various structures depending on the task. These robots change …

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A Quadratic Programming Approach to Manipulation in Real Time

by Chao LiuCKbot, Modular Robots, SMORESPosted on 168 Comments

Manipulation tasks usually involve the control of redundant robots to reach large workspaces while avoiding obstacles and satisfying other constraints. This results in motion planning in high-dimensional space. In addition, whole-body manipulation tasks using multi-limbed robots may need the control of more than one manipulators. Modular robots can be used to construct many useful morphologies …

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Motion Planning for Variable Topology Truss Modular Robot

by Chao LiuModular Robots, VTTPosted on 14 Comments

Featured on Wevolver.com! Variable topology truss (VTT) is a self-reconfigurable modular truss robot. Similar to other types of truss robots, a VTT is composed of multiple members or edge modules which are the beam elements in the truss and nodes that are the connections among members, and can achieve high structural efficiency, change its shape …

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