Variable Topology Truss for Robotic Humanitarian Missions
Abstract
This is the final report of Variable Topology Truss (VTT) for Robotic Humanitarian Missions. The objective of this project was to develop a self-reconfigurable robotic truss system suitable for disaster response. A VTT robot is a truss where each edge is a linear actuator module. The robot can adapt its shape both by changing the length of its edges to change its geometry, and additionally by rearranging their connections to change the truss topology. In the first year of the project, together with our Seoul National University partners, we developed the conceptual framework of the VTT robot system. We developed techniques for analyzing the reconfiguration capabilities of the system and for selecting useful truss topologies. For the VTT hardware, we developed basic prototypes of the linear actuator component and reconfigurable joint component. For software, we developed basic collision checking and path planning implementations, and laid the groundwork for software tools for planning, control, and visualization of the robot.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 12, 2023
- Accession Number
- AD1226725
Entities
People
- Mark Yim
Organizations
- University of Pennsylvania