New developments in robotics have allowed robots to become very small, and capable of completing tasks humans cannot. Current robots capable of achieving this are physically limited in how small they can be without compromising on other aspects such as sensing, strength, or complexity. Thus, we strive to understand how we can more compactly map …
CHAMPS is a configurable, highly articulated modular manipulator driven by a single actuator with selective joint engagement. The design combines shared actuation, embedded locking, and alternating joint geometry to enable scalable hyper-redundant motion.
Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many edge modules that can be rearranged into various structures depending on the task. These robots change …
Read more “Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion”