DTA

Digital Theses Archive

 

Tesi etd-11292020-154433

Type of thesis
Dottorato
Author
IACOPONI, SAVERIO
URN
etd-11292020-154433
Title
Bio-inspired Locomotion and Anchoring for Extreme Environments
Scientific disciplinary sector
ING-IND/34
Course
Istituto di Biorobotica - BIOROBOTICS
Committee
relatore Prof.ssa LASCHI, CECILIA
Keywords
  • legged robot
  • microspines
  • snake-robot
  • space exploration
Exam session start date
29/01/2021;
Availability
parziale
Abstract
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.
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