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

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dc.bibliographic.citation@inproceedings{qin2022trussbot, title={{TrussBot}: Modeling, design and control of a compliant, helical truss of tetrahedral modules}, author = {Yuhong Qin and Linda Ting and Celestina Saven and Yumika Amemiya and Michael Tanis and Randall Kamien and Cynthia Sung}, booktitle={IEEE International Conference on Robotics and Automation (ICRA)}, year={2022} }
dc.contributor.authorQin, Yuhong
dc.contributor.authorTing, Linda
dc.contributor.authorSaven, Celestina
dc.contributor.authorAmemiya, Yumika
dc.contributor.authorTanis, Michael
dc.contributor.authorKamien, Randall
dc.contributor.authorSung, Cynthia R.
dc.date2023-05-18T02:52:12.000
dc.date.accessioned2023-05-22T19:19:53Z
dc.date.available2023-05-22T19:19:53Z
dc.date.issued2022-03-01
dc.date.submitted2022-06-21T10:33:45-07:00
dc.description.abstractModular 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. Supplemental video: https://youtu.be/bcvFMq40EzI
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/34826
dc.legacy.articleid1073
dc.legacy.fieldstrue
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1073&context=grasp_papers&unstamped=1
dc.rightshttps://www.ieee.org/publications/rights/author-posting-policy.html
dc.source.issue71
dc.source.journalLab Papers (GRASP)
dc.source.journaltitleIEEE Conference on Robotics and Automation (ICRA)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.othermodular robot
dc.subject.othercompliant
dc.subject.othersimulation
dc.subject.otherdesign
dc.subject.otherEngineering
dc.subject.otherRobotics
dc.titleTrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules
dc.typePresentation
digcom.contributor.authorQin, Yuhong
digcom.contributor.authorTing, Linda
digcom.contributor.authorSaven, Celestina
digcom.contributor.authorAmemiya, Yumika
digcom.contributor.authorTanis, Michael
digcom.contributor.authorKamien, Randall
digcom.contributor.authorisAuthorOfPublication|email:crsung@seas.upenn.edu|Sung, Cynthia R.
digcom.identifiergrasp_papers/71
digcom.identifier.contextkey29812928
digcom.identifier.submissionpathgrasp_papers/71
digcom.typeconference
dspace.entity.typePublication
relation.isAuthorOfPublication0cd995ad-ec94-47ff-8f37-e8bfe6cc16e4
relation.isAuthorOfPublication0cd995ad-ec94-47ff-8f37-e8bfe6cc16e4
relation.isAuthorOfPublication.latestForDiscovery0cd995ad-ec94-47ff-8f37-e8bfe6cc16e4
upenn.schoolDepartmentCenterLab Papers (GRASP)
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