We introduce a new invariant for truss robot motion planning, called the link-augmented graph. This gives you a way to quickly tell if the start and goal configurations of a motion planning query might have a collision-free path between them.
Fig. 1. Summary figure of the study: (a) The octahedron shape VTT; (b) Path planning through the narrow passage; (c) Locomotion simulation through the narrow passage. We proposed the Polygon-based Random Tree (PRT) search algorithm for path planning of the Variable Topology Truss (VTT) system [1]. PRT search algorithm finds the path to the goal …
Read more “Polygon-based Random Tree Search Algorithm for a Size-Changing Robot”
Fig. 1. Conceptual images of the VTT performing a search and rescue mission on a disaster site. (a) Locomotion; (b) arriving at the destination; (c) the master node grasping the target truss; (d) moving of the target truss; (e) finishing reconfiguration; (f) shoring up. VTT comprises “members,” and “nodes.” Nodes are located at the …
Read more “Reconfiguration Solution of a Variable Topology Truss: Design and Experiment”