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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus
• Keywords: Active Modular Trusses, ICRA 2006, Independent Active Climbing, Modular Trusses, Robotics