A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots
Chao Liu,Sencheng Yu,Mark Yim,Chao Liu,Sencheng Yu,Mark Yim
The Variable Topology Truss (VTT) is a new class of self-reconfigurable robot that can reconfigure its truss shape and topology depending on the task or environment requirements. Motion planning and avoiding self-collision are difficult as these systems usually have dozens of degrees-of-freedom with complex intersecting parallel actuation. There are two different types of shape changing actions fo...
