5 accepted papers
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…
This letter proposes the Polygon-based Random Tree search algorithm with Variable polygon size (PRT-V) for Variable Topology Truss (VTT). This algorithm improves on our previous path planning algorithm by using VTT’s ability to change its size drastically. The algorithm partitions the space into unc
This letter presents the development of a reconfigurable wall-climbing robot (WCR) called R-track. R-Track is designed for operations inside metal structures. It adheres to the metal surface with magnetic tracks. With a modular design which each module of R-Track can be connected or disconnected wit
This letter proposes the use of a polygon-based random tree path planning algorithm for a variable geometry topology system (VGT). By combining a path planning algorithm and our previous non-impact locomotion algorithm, the proposed VGT system reaches an objective point. The proposed path planning a
In this letter, an active ball joint actuator, called the master node, is developed for the purpose of reconfiguring truss structures. We propose a variable topology truss system, which is an advanced variable geometry truss system that can reconfigure its own topology to expand its functions. Howev