Friday, August 4, 2023, 10am

Variable Geometry Truss excels in shape-changing and reconfiguration, enabling it to perform a wide variety of motions, such as stretching, locomotion, and adapting to different tasks in various terrains. Despite all these advantages, most of these designs have a fixed topology. In this work, we aim to design a system of truss robots with variable topology by introducing the concept of dissolvable beams. Specifically, we leveraged a genetic algorithm-based computational pipeline to explore channel optimization and control policy before and after dissolving. We present the results of our system executing complex, coordinated tasks before dissolving and diverse, parallel tasks after dissolving.

Thesis Committee:
Lining Yao (Chair)
Jiaoyang Li

Additional Information

In Person and Zoom Participation. See announcement.

Event Type: Master's Thesis Presentation
Room Number: In Person and Virtual - ET
Building: Gates Hillman 9115 and Zoom
Speaker's Name: ZIWEN YE
Speaker Website: www.linkedin.com…
Speaker's Professional Title: Master's Student, Computer Science Department, Carnegie Mellon University
Talk Title: Evolutionary Topology in Truss Robot Optimization via Dissolvable Beams
Event Poster Title: Poster
Event Poster URL: www.cs.cmu.edu…
For More Information: tracyf@cs.cmu.edu
Affiliations: Computer Science Department (CSD)
Organization(s): SCS