ModLab UPenn the modular robotics laboratory at the university of pennsylvania

VTT
A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots
A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots

Variable topology truss (VTT) is a modular robotic system which is composed of multiple edge modules including a linear actuator as the truss member plus the two ends of the member that attach or detach from other ends to form the node. A VTT usually has at least 18 actuated degrees-of-freedom (DOFs) and typically more […]

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

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 […]

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.