Hierarchical control for self-assembling mobile trusses with passive and active links

Carrick Detweiler; Marsette Vona; Keith Kotay; Daniela Rus

doi:10.1109/ROBOT.2006.1641918

Hierarchical control for self-assembling mobile trusses with passive and active links

Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 Scopus citations

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.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1483-1490
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.2006.1641918
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1641918

Cite this

Detweiler, C., Vona, M., Kotay, K., & Rus, D. (2006). Hierarchical control for self-assembling mobile trusses with passive and active links. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1483-1490). Article 1641918 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641918

Hierarchical control for self-assembling mobile trusses with passive and active links. / Detweiler, Carrick; Vona, Marsette; Kotay, Keith et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1483-1490 1641918 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Detweiler, C, Vona, M, Kotay, K & Rus, D 2006, Hierarchical control for self-assembling mobile trusses with passive and active links. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641918, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1483-1490, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641918

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Hierarchical control for self-assembling mobile trusses with passive and active links

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

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