Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives
- Authors
- Moon, Yecheol; Bae, Jangho; Yim, Mark; Seo, TaeWon
- Issue Date
- Jul-2022
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 2022 19th International Conference on Ubiquitous Robots, UR 2022, pp.219 - 224
- Indexed
- SCOPUS
- Journal Title
- 2022 19th International Conference on Ubiquitous Robots, UR 2022
- Start Page
- 219
- End Page
- 224
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/171553
- DOI
- 10.1109/UR55393.2022.9826275
- 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.
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