Fig. 2: Representation and Elements of a metatruss Design. | Nature Communications

Fig. 2: Representation and Elements of a metatruss Design.

From: Optimization and control of actuator networks in variable geometry truss systems using genetic algorithms

Fig. 2

a A 1D integer array serving as the design representation. This array encompasses C-network indices, contraction levels, and on/off control signals. b In a quadruped robot example, each beam designated a unique C-network index indicated by color. c Preset contraction ratios r derived from the product of contraction level and a fixed increment, Δ = 0.12. d Task-specific sequences of on/off control signals assigned for actions like walking and turning.

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