Tesi etd-11292020-154433
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Tipo di tesi
Dottorato
Autore
IACOPONI, SAVERIO
URN
etd-11292020-154433
Titolo
Bio-inspired Locomotion and Anchoring for Extreme Environments
Settore scientifico disciplinare
ING-IND/34
Corso di studi
Istituto di Biorobotica - BIOROBOTICS
Commissione
relatore Prof.ssa LASCHI, CECILIA
Parole chiave
- legged robot
- microspines
- snake-robot
- space exploration
Data inizio appello
29/01/2021;
Disponibilità
completa
Riassunto analitico
Bio-inspired robotics presented numerous solution for locomotion and anchoring in the recent years, from legged and serpentine locomotion to micro-spine anchoring. Those types of technology are particularly well suited to cover the needs of locomotion and anchoring existing in robotic application for extreme environments. Yet, there are few examples of applied bio-inspired robots for extreme environments. This work present the research and development process aimed at making two applications, underwater legged locomotion and planetary snake-shaped robotics, applicable to real case scenarios. The work presents the design development, testing and results that showcase the process and the potential of those bio-inspired technologies as viable alternatives, if not preferable, to more traditional approaches. The aim of this work is to showcase the process through which a bio-inspired technology for locomotion and anchoring can be exploited and effectively integrated in a functional field robot.
File
| Nome file | Dimensione |
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| Thesis_r2.pdf | 26.64 Mb |
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