ModLab UPenn the modular robotics laboratory at the university of pennsylvania

VTT
Variable Topology Truss
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
Reconfiguration Motion Planning for Variable Topology Truss

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 motion planning problem for modular robots with many degrees of freedom and many motion constraints is a significant challenge. […]

Variable Topology Truss: Concept, Design and Analysis
Variable Topology Truss: Concept, Design and Analysis

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.