Patent ID: 7769488

Claim:
A reconfigurable structure, comprising: a plurality of selectively extensible and retractable limbs; a plurality of nodes each pivotably receiving respective ends of at least two of said plurality of selectively extensible and retractable limbs; and a plurality of actuators each associated with a corresponding one of each and every limb for extending and retracting the limb; wherein at least one of said plurality of selectively extensible and retractable limbs is pivotally received by a corresponding one of said plurality of nodes at opposite ends thereof; wherein the plurality of limbs and the at least one node form at least one three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces; and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said at least three nodes.