Locomotion Planning of a Truss Robot on Irregular Terrain
Jangho Bae,Inha Park,Mark Yim,TaeWon Seo,Jangho Bae,Inha Park,Mark Yim,TaeWon Seo
This paper proposes a new locomotion algorithm for truss robots on irregular terrain, in particular, for the Variable Topology Truss (VTT) system. The previous Polygon-based Random Tree (PRT) search algorithm for support polygon generation is extended to irregular terrain while considering friction and internal force limitations. By characterizing terrain, unreachable areas are excluded from searc...
