TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules

Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. Tru...

Full description

Saved in:
Bibliographic Details
Published in2022 International Conference on Robotics and Automation (ICRA) pp. 4218 - 4224
Main Authors Qin, Yuhong, Ting, Linda, Saven, Celestina, Amemiya, Yumika, Tanis, Michael, Kamien, Randall D., Sung, Cynthia
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.05.2022
Subjects
Analytical models
Deformable models
Geometry
Grippers
Predictive models
Prototypes
Topology
Online AccessGet full text

Cover

More Information
Summary:Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. TrussBot is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints. We propose a truss geometry, analyze its deformation modes, and provide a simulation framework for predicting its behavior under applied loads and actuation. The TrussBot is geometrically constrained, thus requiring compliant joints to move. The TrussBot can be actuated through a network of tendons which pinch vertices together and apply a twisting motion due to the structure's connectivity. The truss was demonstrated in a physical prototype and compared to simulation results.
DOI:10.1109/ICRA46639.2022.9812295