1. Introduction. - 1. 1 Problem Statement. - 1. 2 Background. - 1. 3 Approach. - 2. Previous Work. - 2. 1 Introduction. - 2. 2 Robot Classification. - 2. 3 Kinematics. - 2. 4 Mechanical Design. - 3. Tetrobot Overview. - 3. 1 Introduction. - 3. 2 Topology. - 3. 3 Degrees of Freedom. - 3. 4 Sample Configurations. - 3. 5 Graph Representation. - 3. 6 Modularity. - 3. 7 Redundancy. - 3. 8 Summary. - 4. Tetrobot Mechanism. - 4. 1 Introduction. - 4. 2 Struts. - 4. 3 CMS Joint. - 4. 4 Joint Limits from Actuator Limits. - 4. 5 Schematic Representation. - 4. 6 Summary. - 5. Kinematics. - 5. 1 Introduction. - 5. 2 General Robot Kinematics. - 5. 3 Truss Kinematics. - 5. 4 Tetrobot Notation. - 5. 5 Forward Kinematics. - 5. 6 Jacobian. - 5. 7 Singularities. - 5. 8 Summary. - 6. Kinematic Control. - 6. 1 Inverse Kinematic Control Architecture. - 6. 2 Inverse Kinematics. - 6. 3 Summary. - 7. Experimental Results and Analysis. - 7. 1 Introduction. - 7. 2 Implementation. - 7. 3 CMS Joint Evaluation. - 7. 4 Actuator Evaluation. - 7. 5 Computational Requirements. - 7. 6 Experimental Mechanisms. - 7. 7 Summary. - 8. Future Work. - 8. 1 Introduction. - 8. 2 Joint Redesign. - 8. 3 Strut Redesign. - 8. 4 Scaling. - 8. 5 Controllers. - 8. 6 Combined Actuator/Controller. - 8. 7 Distributed Architecture. - 8. 8 Tetrobot Dynamics. - 8. 9 Self-Reconfiguration. - 8. 10 Sensor Integration. - 8. 11 Applications. - 8. 12 Summary. - References. - Appendices. - A-Force Equations. Language: English