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ICRA
2006
IEEE

Hierarchical Control for Self-assembling Mobile Trusses with Passive and Active Links

14 years 4 months ago
Hierarchical Control for Self-assembling Mobile Trusses with Passive and Active Links
— This paper explores the space of active modular trusses, ranging from a passive truss with one independent active climbing module to fully self-reconfiguring dynamically controllable trusses comprised of active modules and passive struts. We describe a hardware design for truss climbing and present hierarchical algorithms for controlling hyper-redundant modular trusses.
Carrick Detweiler, Marsette Vona, Keith Kotay, Dan
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus
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