A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots


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 for a VTT: geometry reconfiguration and topology reconfiguration. This paper focuses on the geometry reconfiguration actions. A new cell decomposition approach is presented based on a fast and complete method to compute the collision-free space of a node in a truss. A simple shape-morphing method is shown to quickly create motion paths for reconfiguration by moving one node at a time.

2020 International Conference on Robotics and Automation (ICRA)
Chao Liu
Chao Liu
Postdoctoral Associate

My research interests include manipulation and tactile sensing, swarm and modular robotics, soft robotics, parallel robotics, control and motion planning.