Topological Reconfiguration Planning for a 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. This article covers the contributions of our journal article about …

Polygon-based Random Tree Search Planning for Variable Geometry Truss Robot

Variable Topology Truss (VTT) is an improved Variable Geometry Truss that can change its topology. We designed the VTT as an octahedron shape by considering topology reconfiguration. The most important task of VTT is locomotion to a random goal position. Previously we used Rapid Random Tree (RRT) to find a trajectory of the center of …

Version 4 Modboat

Modboat: A Single-Motor Modular Self-Reconfigurable Robot

The Modboat is an inexpensive, oscillating surface-swimming robot powered by a single-motor and built from the ground up for low-cost modular self-reconfiguration. Very little work has been done on surface-swimming modular self-reconfigurable robotic systems (MSRRs), and to date it has heavily relied on holonomic modules. The Modboat aims to challenge that paradigm and develop aquatic …