VTT – ModLab

Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion

by Chao LiuModular Robots, VTT September 25, 20234 Comments

Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many edge modules that can be rearranged into various structures depending on the task. These robots change …

A Linking Invariant for Truss Robot Motion Planning

by Alexander SpinosModular Robots, VTT May 22, 2022July 7, 202244 Comments

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.

Polygon-based Random Tree Search Algorithm for a Size-Changing Robot

by Jangho BaeModular Robots, VTT May 22, 2022July 7, 202247 Comments

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 …