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Tesi etd-05132022-175622


Tipo di tesi
Tesi di laurea magistrale
Autore
SERRAGLINI, GIULIA
URN
etd-05132022-175622
Titolo
Estimating contact forces from postural measurements on a soft robotic foot.
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
relatore Dott. Grioli, Giorgio
relatore Dott. Mura, Domenico
Parole chiave
  • contact forces
  • IMU
  • interaction
  • soft robotics
Data inizio appello
01/06/2022
Consultabilità
Non consultabile
Data di rilascio
01/06/2092
Riassunto
Human intervention is essential in many dicult situations, e.g. in emergency, survey operations
and interventions in earthquake areas. In such circumstances where human life is
endangered, walking robots can come in to play, as they are able to navigate in even complex
environments. In these cases, the success of the mission depends on the control and stability
a walking robot is able to achieve, which in turn depends by the choice of rigid or adaptive
feet. After showing the state of the art of some types of walking robots and feet used, the
thesis analyses a walking foot as a grasping problem. I propose two models that reconstruct
the contact forces distribution, knowing only the shape of the foot during the contact. The
rst one is a Model-Based Method which is able to reconstruct forces from only conguration
data knowing the structure of the end-eector. The second one is a Black Box Method, where
the forces are estimated via a Neural Network.
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