Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives

Y. Moon, Jangho Bae, Mark H. Yim, Taewon Seo
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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.
基于运动基元的变拓扑桁架机器人运动算法仿真研究
可变拓扑桁架(VTT)是一种模块化机器人系统,它是在可变几何桁架(VGT)的基础上扩展而来的机器人概念。它由模块化的成员和节点组成,可以在粗糙和混乱的环境中运行。通过改变每个成员的长度,VTT机器人可以改变大小和形状。VTT还可以通过滚动进行运动。通过重复滚动运动可以完成长距离的移动,因此使用了运动原语。这减少了计算量,因为重复运动只需要计算一次。提出了一种导出八面体VTT运动原语的算法。该算法包括三个阶段:将一个节点放置在地面上,移动质心,恢复到初始形状。在每个时间步上,基于成本函数评估一组可能的机器人运动。在每个时间步上选择代价最低的运动,形成优化的运动原语。对生成的运动原语进行了分析和验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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