Autonomously Reconfigurable Technology

Abstract: Tetrahedral robotic structures are a revolutionary concept in mobile robotics. By combining many active linear-motion strut elements, structures can be created with the ability to "morph" and alter the structure's geometry in a controlled manner. This allows rovers to achieve locomotion without wheels, and by conforming to the local terrain they can traverse many different types of terrain. Rovers employing this technique are extremely versatile, but with so many mechanical elements it is likely that one or more struts will fail. The fundamental modularity of the tetrahedral architecture lends itself to a reconfigurable system, where a rover can replace failed struts or change its overall geometry to better complete its mission. The primary objective of our team is to develop a prototype system that allows a strut or group of struts to remotely locate and connect to another strut, setting the stage for a completely reconfigurable structure.

Team Lead: Larry “Justin” Stiltner

Research Associates: Thomas Capon, Tiffany Lee, Maxim Lobovsky