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autonomous robotic truss reconfiguration and manipulation
Bookmarked 765 weeks ago learn more: http:creativemachinescornelledumachine-metabolismhttp:wwwjeremyblumcomportfoliomachine-metabolismaccepted for publication in ieee robotics and automation magazinerobot shown developed by franz nigl and jeremy blum under the direction of dr hod lipsonthis 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 |
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