Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Moon, Yecheol | - |
dc.contributor.author | Bae, Jangho | - |
dc.contributor.author | Yim, Mark | - |
dc.contributor.author | Seo, TaeWon | - |
dc.date.accessioned | 2022-09-19T12:17:46Z | - |
dc.date.available | 2022-09-19T12:17:46Z | - |
dc.date.created | 2022-09-08 | - |
dc.date.issued | 2022-07 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/171553 | - |
dc.description.abstract | Variable Topology Truss (VTT) is a modular robotic system, which is an extended robot concept based on the Variable Geometry Truss (VGT). It is composed of modular members and nodes and can operate in a rough and cluttered environment. By changing the length of each member, the VTT robot can change size and shape. The VTT can also perform locomotion by rolling. Travel over a long distance can be accomplished by repeating the rolling motion, so a motion primitive is used. This reduces the computational work because the repetitive motion only needs to be calculated once. In this paper, an algorithm is presented to derive a motion primitive for an octahedral VTT. The algorithm consists of three phases: placing one node on the ground, moving the center of mass, and returning to the initial shape. On each time step, a set of possible robot motions is evaluated based on a cost function. The lowest cost motion is selected on each time step to form the optimized motion primitive. The resulting motion primitive is analyzed and validated. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, TaeWon | - |
dc.identifier.doi | 10.1109/UR55393.2022.9826275 | - |
dc.identifier.scopusid | 2-s2.0-85136136124 | - |
dc.identifier.wosid | 000922068300035 | - |
dc.identifier.bibliographicCitation | 2022 19th International Conference on Ubiquitous Robots, UR 2022, pp.219 - 224 | - |
dc.relation.isPartOf | 2022 19th International Conference on Ubiquitous Robots, UR 2022 | - |
dc.citation.title | 2022 19th International Conference on Ubiquitous Robots, UR 2022 | - |
dc.citation.startPage | 219 | - |
dc.citation.endPage | 224 | - |
dc.type.rims | ART | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Topology | - |
dc.subject.keywordPlus | Trusses | - |
dc.subject.keywordPlus | Cost functions | - |
dc.subject.keywordPlus | Cluttered environments | - |
dc.subject.keywordPlus | Concept-based | - |
dc.subject.keywordPlus | Modular robotics | - |
dc.subject.keywordPlus | Modulars | - |
dc.subject.keywordPlus | Motion primitives | - |
dc.subject.keywordPlus | Robotic systems | - |
dc.subject.keywordPlus | Simulation studies | - |
dc.subject.keywordPlus | Time step | - |
dc.subject.keywordPlus | Variable geometry truss | - |
dc.subject.keywordPlus | Variable topologies | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9826275 | - |
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