{"title":"Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives","authors":"Y. Moon, Jangho Bae, Mark H. Yim, Taewon Seo","doi":"10.1109/ur55393.2022.9826275","DOIUrl":null,"url":null,"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.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 19th International Conference on Ubiquitous Robots (UR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ur55393.2022.9826275","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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.