Object Manipulation of the Variable Topology Truss system

2026-05-13

AI Summary

This work addresses the challenge of simultaneously achieving high-precision position and contact force control in variable-topology truss systems, which has been hindered by the lack of effective manipulation strategies. The authors propose a hybrid control framework that obviates explicit decoupling by integrating actuator-level axial force feedback, a task-level statics-based inverse model, and a multi-module cooperative force distribution algorithm, enabling stable force tracking even under high-friction conditions. Experimental results demonstrate that the approach reliably synchronizes end-effector position and contact force regulation in both single-module and full-system configurations. Furthermore, successful execution of object manipulation tasks across two representative structural configurations confirms the method’s consistency and robustness.

Abstract

This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as rapidly deployable manipulators, manipulation strategy has not been studied thoroughly. To enable manipulation, we introduce a hybrid control framework that regulates position and force concurrently without explicit decoupling. At the actuator level, each member employs a sensor-based force feedback controller to generate the desired axial forces despite high actuator friction. At the task level, the forces applied at the end-effector nodes are produced by computing the required member forces using a static model of the VTT. We evaluate force-tracking performance through experiments on both a single member module and the full VTT system. Finally, we demonstrate object manipulation using two representative configurations and quantitatively assess combined position and force tracking performance. Experimental results confirm that the proposed approach enables consistent and reliable object manipulation with the VTT system.

Problem

• Object Manipulation
• Variable Topology Truss
• Truss Robot
• Manipulation Strategy
• Force Control

Innovation

• Variable Topology Truss
• hybrid position-force control
• sensor-based force feedback
• truss robot manipulation
• static force model