Title :
Hierarchical control for self-assembling mobile trusses with passive and active links
Author :
Detweiler, Carrick ; Vona, Marsette ; Kotay, Keith ; Rus, Daniela
Author_Institution :
Comput. Sci. & Artificial Intelligence Lab., Massachusetts Inst. of Technol., Cambridge, MA
Abstract :
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
Keywords :
hierarchical systems; mobile robots; path planning; redundant manipulators; self-adjusting systems; supports; active links; active modular trusses; hierarchical control; hyper-redundant modular trusses; passive links; self-assembling mobile trusses; Computer science; Control systems; Hardware; Mobile robots; Orbital robotics; Poles and towers; Robot kinematics; Self-assembly; Space exploration; Space technology;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641918
