Autonomous Robotic Truss Reconfiguration and Manipulation

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Machine Metabolism

Accepted for Publication in IEEE Robotics and Automation Magazine

Robot shown developed by Franz Nigl, Jeremy Blum, and Shuguang Li under the direction of Dr. Hod Lipson.

This video presents a robot capable of autonomously traversing and manipulating a 3D truss structure. The robot is able to approach and traverse multiple structural joints using a combination of translational and rotational motions. A key factor in allowing reliable motion and engagements is the use of specially designed structural building blocks comprised of bidirectional geared rods. A set of traversal plans, each comprised of basic motion primitives, were analyzed for speed, robustness, and repeatability. Paths covering eight joints are demonstrated, as well as automatic element assembly and disassembly. We suggest that the robot architecture and truss module design, such as the one presented here, could open the door to robotically assembled, maintained, and reconfigured structures that would ordinarily be difficult, risky, or time consuming for humans to construct.

Duration : 0:4:40


7 responses to “Autonomous Robotic Truss Reconfiguration and Manipulation”

  1. beautjeeee Avatar

    cant you use it in …
    cant you use it in like big warehouses if you put a gyro in it with a controll panel??

  2. sciguy14 Avatar

    Correct. An …
    Correct. An additional actuating mechanism is needed to? achieve all configurations possible.

  3. sciguy14 Avatar

    Yes it is. I? …
    Yes it is. I? developed the electronics and autonomous control software for the robot in the video. I work in the Creative Machines Lab.

  4. PlayerDuce Avatar

    I wonder what? a …
    I wonder what? a swarm of these wirelessly connected could do…

  5. sPOiDar Avatar

    Robot needs an …
    Robot needs an extra segment to allow it to manipulate beams into all? possible positions?

  6. kpopRC Avatar

    is that? sciguy14?? …
    is that? sciguy14????

  7. cat00012000 Avatar

    Now you? need to …
    Now you? need to reconfigure the reconfigurator

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