Trigon robotic pairs

A. Scott Howe*, Ian Gibson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review


The Trigon modular robotic construction system consists of square or equilateral triangle panels that are able to grasp each other at edge points to affect self-assembly. The Trigon system can be used to construct a variety of stable geometries and structures for habitats and vehicles, including rovers, ISRU "cassette factories", and permanent base structures. Construction is accomplished by panel pairs that use each other to "tumble" across completed portions of the structure until they find their target positions. This paper discusses robotic pair kinematics and inverse kinematics, assembly sequences, and preliminary robot prototypes.

Original languageEnglish
Title of host publicationCollection of Technical Papers
Subtitle of host publicationAIAA Space Conference, San Jose, California, 19-21 September 2006
Place of PublicationReston, VA
PublisherAmerican Institute of Aeronautics and Astronautics Inc. (AIAA)
Number of pages15
ISBN (Print)9781563478246
Publication statusPublished - 2006
Externally publishedYes
EventSpace 2006 Conference - San Jose, CA, United States
Duration: 19 Sep 200621 Sep 2006


ConferenceSpace 2006 Conference
Country/TerritoryUnited States
CitySan Jose, CA


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