Spiral Zipper Manipulator for Aerial Grasping and Manipulation

We present a novel manipulator for aerial vehicles to perform grasping and manipulation tasks. The goal is to design a low-cost, relatively light but strong manipulator with a large workspace and compact storage space that can be mounted on an unmanned aerial system. A novel design solution based on the Spiral Zipper, an expanding tube, …

Variable Topology Truss

Variable Topology Trusses (VTT) are a new class of self-reconfigurable robot. A VTT consists of linear actuators for the truss members, which are joined at the truss nodes by a special reconfigurable spherical joint. The VTT can reconfigure by merging and splitting these truss nodes.

Reconfiguration Motion Planning for Variable Topology Truss

Finalist for Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi at IROS 2019 This work presents an algorithm to do motion planning for a new class of self-reconfigurable modular robot: the variable topology truss (VTT). Modular robots consist of many modules that can be configured into various structures, and …