Tesi etd-09302025-231209
Link copiato negli appunti
Tipo di tesi
Corso Ordinario Secondo Livello
Autore
AVONI, MARCELLO
URN
etd-09302025-231209
Titolo
A framework for the design of multifunctional grippers for legged robots
Struttura
Classe Scienze Sperimentali
Corso di studi
INGEGNERIA - INGEGNERIA
Relatori
relatore Prof. FRISOLI, ANTONIO
Parole chiave
- Locomanipulation
- Robotic End-Effectors
- Robotic Grippers
Data inizio appello
11/12/2025;
Disponibilità
parziale
Riassunto analitico
Loco-manipulation is an emerging field in the context of legged robotics where the limbs are used for both locomotion and object manipulation. This dual functionality offers opportunities for better hardware utilization and increased flexibility, but introduces additional design complexities due to the trade-off between the two tasks. In this thesis, an open parametric CAD model for manipulators is adapted for prehensile robotic feet, a physics-based simulation is developed to predict its behaviors, and a random sampling algorithm is used to assess its performance. These contributions create a framework that enables rapid assessment and experimental testing of multifunctional grippers. The final contribution of this work is a hardware prototype that can be rapidly reconfigured and optimized, enabling the exploration of a vast design space for the complex task of loco-manipulation.
File
| Nome file | Dimensione |
|---|---|
Ci sono 1 file riservati su richiesta dell'autore. |
|