Abstract: Two new designs for gravity compensated modular robotic systems are presented and analyzed. The gravity compensation relies on using zerofreelength springs approximated by a cable and pulley system. Simple yet powerful ...

Abstract: Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very ...

Abstract: This paper introduces a new class of self-reconfigurable robot: the variable topology truss (VTT), which is an extension of an existing class of robots: the variable geometry truss (VGT). Variable topology trusses have the ...