SOURCE-LINKED INTELLIGENCE
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load-bearing structure, but coupling it to a mobile base creates a high-dimensional coordination problem. GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control. We solve one source traversal and extract four contact-semantic primitives that describe coordination among 21 members. Physics-constrained projection adapts them to unseen step heights with the
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-10T10:48:58.000Z
First collected: 2026-09-20T19:02:05.452Z. This is not the publication date.