Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2022-11-28T05:36:55Z | - |
dc.date.available | 2022-11-28T05:36:55Z | - |
dc.date.issued | 2022-07 | - |
dc.identifier.citation | 2022 19th International Conference on Ubiquitous Robots, UR 2022, Page. 219-224 | en_US |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9826275 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/177680 | - |
dc.description.abstract | Variable Topology Truss (VTT) is a modular robotic system, which is an extended robot concept based on the Variable Geometry Truss (VGT). It is composed of modular members and nodes and can operate in a rough and cluttered environment. By changing the length of each member, the VTT robot can change size and shape. The VTT can also perform locomotion by rolling. Travel over a long distance can be accomplished by repeating the rolling motion, so a motion primitive is used. This reduces the computational work because the repetitive motion only needs to be calculated once. In this paper, an algorithm is presented to derive a motion primitive for an octahedral VTT. The algorithm consists of three phases: placing one node on the ground, moving the center of mass, and returning to the initial shape. On each time step, a set of possible robot motions is evaluated based on a cost function. The lowest cost motion is selected on each time step to form the optimized motion primitive. The resulting motion primitive is analyzed and validated. | en_US |
dc.description.sponsorship | This research was supported by the MOTIE (Ministry of Trade, Industry, and Energy) in Korea, under the Human Resource Development Program for Industrial Innovation(Global) (P0017306, Global Human Resource Development for Innovative Design in Robot and Engineering) supervised by the Korea Institute for Advancement of Technology (KIAT). | en_US |
dc.language | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
dc.title | Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/UR55393.2022.9826275 | en_US |
dc.relation.page | 219-224 | - |
dc.relation.journal | 2022 19th International Conference on Ubiquitous Robots, UR 2022 | - |
dc.contributor.googleauthor | Moon, Yecheol | - |
dc.contributor.googleauthor | Bae, Jangho | - |
dc.contributor.googleauthor | Yim, Mark | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.sector.campus | S | - |
dc.sector.daehak | 공과대학 | - |
dc.sector.department | 기계공학부 | - |
dc.identifier.pid | taewonseo | - |
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