Dynamic-Characteristics-Based Continuous Impact-Minimizing Rolling Locomotion for Variable Topology Truss

Abstract

This paper presents a Continuous Impact-Minimizing (CIM) rolling locomotion method for Variable-Topology Truss (VTT) robots, addressing limitations of conventional stepwise motion. Traditional VTT locomotion depends on discrete reference transitions, resulting in pauses, slow progress, and unintended ground impacts. Inertia-driven rotation at each step also generates impact forces on joints, raising durability concerns. CIM rolling continuously adjusts joint lengths by tracking the center of gravity in real time, enabling smoother motion and minimizing impacts. This approach allows VTTs to move directly to targets without unnecessary resets. Simulations validate the effectiveness of CIM rolling, demonstrating a 50% increase in speed and a 49% reduction in nodal impact force compared to conventional methods.