Preliminary Study on the Rolling Locomotion of Variable Topology Truss Robot Using Dynamic Characteristics

Abstract

This paper presents a preliminary study on the development of dynamic rolling locomotion for Variable Topology Truss (VTT) robots. Rolling locomotion allows the robot to move in any direction, which is advantageous for various terrains. However, they are constantly affected by the relatively slow speed and impact. We propose the 2D and 3D dynamic models with a contact force simulation. Based on the calculation, the simulation model could show the movement of VTT.