Optimization and control of actuator networks in variable geometry truss systems using genetic algorithms.

ABSTRACT: A robot's morphology is pivotal to its functionality, as biological organisms demonstrate through shape adjustments - octopi squeeze through small apertures, and caterpillars use peristaltic transformations to navigate complex environments. While existing robotic systems struggle to achieve precise volumetric transformations, Variable Geometry Trusses offer rich morphing capabilities by coordinating hundreds of actuating beams. However, control complexity scales exponentially with beam count, limiting implementations to trusses with only a handful of beams or to designs where only a subset of beams are actuable. Previous work introduced the metatruss, a truss robot that simplifies control by grouping actuators into interconnected pneumatic control networks, but relies on manual network des

SUBMITTER: Gu J 

PROVIDER: S-EPMC12484673 | biostudies-literature | 2025 Sep

REPOSITORIES: biostudies-literature