TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules
Yuhong Qin,Linda Ting,Celestina Saven,Yumika Amemiya,Michael Tanis,Randall D. Kamien,Cynthia Sung,Yuhong Qin,Linda Ting,Celestina Saven,Yumika Amemiya,Michael Tanis,Randall D. Kamien,Cynthia Sung
Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. TrussBot is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints. ...
