Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Author(s)
Yun, Seungkook; Hjelle, David Alan; Schweikardt, Eric; Lipson, Hod; Rus, Daniela L.
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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.
Date issued
2009-05
URI
http://hdl.handle.net/1721.1/64782
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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
ISBN
978-1-4244-2788-8
ISSN
1050-4729
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