Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements
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...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/64782 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826196691118718976 |
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| author | Yun, Seungkook Hjelle, David Alan Schweikardt, Eric Lipson, Hod Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Yun, Seungkook Hjelle, David Alan Schweikardt, Eric Lipson, Hod Rus, Daniela L. |
| author_sort | Yun, Seungkook |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T10:35:01Z |
| format | Article |
| id | mit-1721.1/64782 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:35:01Z |
| publishDate | 2011 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/647822022-09-30T21:42:25Z Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements Yun, Seungkook Hjelle, David Alan Schweikardt, Eric Lipson, Hod Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Rus, Daniela L. Yun, Seungkook Rus, Daniela L. 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. National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (EFRI grant #0735953) Samsung Fellowship 2011-07-08T21:37:54Z 2011-07-08T21:37:54Z 2009-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-2788-8 1050-4729 http://hdl.handle.net/1721.1/64782 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 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/ROBOT.2009.5152714 IEEE International Conference on Robotics and Automation (ICRA) 2009 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. application/pdf Institute of Electrical and Electronics Engineers MIT web domain |
| spellingShingle | Yun, Seungkook Hjelle, David Alan Schweikardt, Eric Lipson, Hod Rus, Daniela L. Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title | Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title_full | Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title_fullStr | Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title_full_unstemmed | Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title_short | Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| title_sort | planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements |
| url | http://hdl.handle.net/1721.1/64782 https://orcid.org/0000-0001-5473-3566 |
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