3 accepted papers
We introduce a multi-modal reconfiguration planner for the Variable Topology Truss (VTT) modular robot system. The VTT system is a truss-architecture modular self-reconfigurable robot. When a VTT is restricted to a single topology, the collision constraints between the truss members divide the confi…
In this paper, we introduce a new invariant of C-space components for truss robots: the link-augmented graph. This invariant uses techniques from knot, link, and spatial graph theory to encode the linking information between different closed chains in the robot. For robots with a disconnected free c
This paper introduces a new class of self-reconfigurable robot: the variable topology truss (VTT). Related to an existing class of robots, the variable geometry truss (VGT), variable topology trusses have the additional capability to change the topology of the truss through self-reconfiguration. The…