Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion
Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion
复制标题
可变拓扑桁架：硬件概述、重新配置规划和运动
DOI：
10.1109/urai.2018.8441880
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Jongwon Kim
中科院分区：
文献类型：
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作者：
Seongjae Jeong;Byung;Sumin Park;Eugene Park;Alexander Spinos;Devin Carroll;Thulani Tsabedze;Yulai Weng;Taewon Seo;Mark H. Yim;F. Park;Jongwon Kim
变拓扑桁架（VTT）系统是一种新型的模块化平台，它能够同时控制桁架的形状和拓扑，既具有变几何桁架的高效性，又具有自重构机器人的灵活性。VTT有能力进入灾难现场和海岸受损结构，以协助救援工作。本文提出了一个修订后的概述VTT硬件设计，从我们以前的作品增强。我们提出了一种主动VTT球关节，它可以解决硬件相关的问题，也简化了VTT软件。此外，重构和运动规划算法的VTT。我们提出了一种基于回缩的RRT方法，特别适合于VTT，并显示我们的算法是上级基本RRT在一个实际的21人VTT场景。运动算法实现了一个滚动的步态运动学约束下，21个成员的VTT的仿真结果表明，我们的算法产生准确的轨迹跟踪。
The variable topology truss (VTT) system is a new type of modular platform that enables control over both the shape and topology of a truss, bringing both the efficiency of variable geometry trusses and the flexibility of self-reconfigurable robots. A VTT has the capability to enter a disaster site and shore damaged structures to assist with rescue work. This paper presents a revised overview of the VTT hardware design, enhanced from our previous works. We propose an active VTT spherical joint, which can address the hardware-related issues and also simplify the VTT software. Additionally, reconfiguration and locomotion planning algorithms for VTT are presented. We propose a retraction-based RRT method especially suitable for VTT and show our algorithm is superior to basic RRT in a practical 21-member VTT scenario. The locomotion algorithm implements a rolling gait under kinematic constraints; simulation results for a 21-member VTT show our algorithm yields accurate trajectory tracking.
线性执行器机器人：微分运动学、可控性以及运动和形状变形算法
DOI：
10.1109/iros.2017.8206431
发表时间：
2017
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
影响因子：
--
作者：
Usevitch, Nathan;Hammond, Zachary;Follmer, Sean;Schwager, Mac
通讯作者：
Schwager, Mac