DocumentCode
2096685
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
fYear
2006
fDate
15-19 May 2006
Firstpage
1483
Lastpage
1490
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641918
Filename
1641918
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