Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements
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Rus_Planning The.pdf
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Author(s)
Yun, Seungkook
Hjelle, David Alan
Schweikardt, Eric
Lipson, Hod
Rus, Daniela L.
Date Issued
May 2009
Journal
IEEE International Conference on Robotics and Automation (ICRA) 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Seung-kook Yun et al. “Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots That Carry Truss Elements.” Robotics and Automation, 2009. ICRA ’09. IEEE International Conference On. 2009. 1327-1333. Copyright © 2009, IEEE
Version
Final published version
Abstract
In this paper we describe an optimal reconfiguration planning algorithm that morphs a grounded truss structure of known geometry into a new geometry. The plan consists of a sequence of paths to move truss elements to their new locations that generate the new truss geometry. The trusses are grounded and remain connected at all time. Intuitively, the algorithm grows gradually the new truss structure from the old one. The truss elements are rigid bars joined with 18-way connectors. The paper also introduces the design of a truss-climbing robot that can execute the plan.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152714
