A Quadratic Programming Approach to Manipulation in Real Time

by Chao LiuCKbot, Modular Robots, SMORESPosted on 168 Comments

Manipulation tasks usually involve the control of redundant robots to reach large workspaces while avoiding obstacles and satisfying other constraints. This results in motion planning in high-dimensional space. In addition, whole-body manipulation tasks using multi-limbed robots may need the control of more than one manipulators. Modular robots can be used to construct many useful morphologies …

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Motion Planning for Variable Topology Truss Modular Robot

by Chao LiuModular Robots, VTTPosted on 4 Comments

Featured on Wevolver.com! Variable topology truss (VTT) is a self-reconfigurable modular truss robot. Similar to other types of truss robots, a VTT is composed of multiple members or edge modules which are the beam elements in the truss and nodes that are the connections among members, and can achieve high structural efficiency, change its shape …

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Parallel Self-assembly with SMORES-EP

by Chao LiuModular Robots, SMORESPosted on 8 Comments

It is common in nature that goups of individuals can form a variety of structures in order to overcome the limited capability of each individual, especially for insects who often need to collaborate in large groups to finish tasks. This collective intelligence is important to modular robots which are composed of numerous simple building blocks, …

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