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Computer Science > Robotics

arXiv:2108.00309 (cs)
[Submitted on 31 Jul 2021 (v1), last revised 25 Sep 2023 (this version, v2)]

Title:Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion

Authors:Chao Liu, Sencheng Yu, Mark Yim
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Abstract: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 their shape by not only controlling joint positions as with fixed morphology robots, but also reconfiguring the connectivity between truss members in order to change their topology. The motion planning problem for VTT robots is difficult due to their varying morphology, high dimensionality, the high likelihood for self-collision, and complex motion constraints. In this paper, a new motion planning framework to dramatically alter the structure of a VTT is presented. It can also be used to solve locomotion tasks that are much more efficient compared with previous work. Several test scenarios are used to show its effectiveness. Supplementary materials are available at this https URL.
Comments: 20 pages, 36 figures
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.00309 [cs.RO]
  (or arXiv:2108.00309v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.00309
Journal reference: IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2020-2039, June 2023
Related DOI: https://doi.org/10.1109/TRO.2022.3228400

Submission history

From: Chao Liu [view email]
[v1] Sat, 31 Jul 2021 19:15:19 UTC (12,979 KB)
[v2] Mon, 25 Sep 2023 01:44:55 UTC (10,906 KB)
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