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

41 pages

Thesis Committee:
Lining Yao (Chair)
Jiaoyang Li

Srinivasan Seshan, Head, Computer Science Department
Martial Hebert, Dean, School of Computer Science

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