Computer Science 5th Years Master's Thesis Presentation
— 11:00am
Location:
In Person and Virtual - ET
-
Gates Hillman 9115 and Zoom
Speaker:
ZIWEN YE
,
Master's Student, Computer Science Department, Carnegie Mellon University
https://www.linkedin.com/in/ziwenye?original_referer=https%3A//duckduckgo.com/
Evolutionary Topology in Truss Robot Optimization via Dissolvable Beams
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.