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
Abstract
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. We propose a truss geometry, analyze its deformation modes, and provide a simulation framework for predicting its behavior under applied loads and actuation. The TrussBot is geometrically constrained, thus requiring compliant joints to move. The TrussBot can be actuated through a network of tendons which pinch vertices together and apply a twisting motion due to the structure's connectivity. The truss was demonstrated in a physical prototype and compared to simulation results.
BibTeX
@inproceedings{icra2022_trussbotmodeling,
title = {TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules},
author = {Yuhong Qin and Linda Ting and Celestina Saven and Yumika Amemiya and Michael Tanis and Randall D. Kamien and Cynthia Sung},
booktitle = {ICRA 2022},
year = {2022}
}