Autonomous Robotic Truss Reconfiguration and Manipulation

Learn more: creativemachine...
www.jeremyblum....
Accepted for Publication in IEEE Robotics and Automation Magazine
Robot shown developed by Franz Nigl, Jeremy Blum, and Shuguang Li under the direction of Dr. Hod Lipson.
This 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.

[@sciguy14]

@kpopRC Yes it is. I developed the electronics and autonomous control software for the robot in the video. I work in the Creative Machines Lab.

[@sciguy14]

@sPOiDar Correct. An additional actuating mechanism is needed to achieve all configurations possible.

[@travcat756]

Now you need to reconfigure the reconfigurator

[@tiagotiagot]

This (or the advanced version with additional segments/degrees of freedom) would be a great mechanic for a puzzle game!

[@kpopRC]

is that sciguy14????

[@sPOiDar]

Robot needs an extra segment to allow it to manipulate beams into all possible positions?

[@beautjeeee]

cant you use it in like big warehouses if you put a gyro in it with a controll panel?

[@PlayerDuce]

I wonder what a swarm of these wirelessly connected could do...

[@THELEGAULTFAMILYYOUTUBE]

Awesome

[@HashirAbdi]

Amazing

[@weicc84]

you guys are going to change how we build buildings...

[@yaosio]

Aperture science already has panels.

[@zetathix]

Caterpillar robot.