Tipo di tesi
Tesi di laurea magistrale
Titolo
Design optimization and collective behavior exploration for a centimeter-scale hexapod robot in swarm configuration
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
BIONICS ENGINEERING
Riassunto (Inglese)
The thesis subject is the optimization of the design of the platform INSECTRON and the exploration of a swarm configuration composed of multiple identical agents.
INSECTRON is a centimeter-scale hexapod robot inspired by insect morphology and robustness. The platform is characterized by magnetic transmissions between the robot’s legs and the gear train connected to the motor and one between the two halves of the robot that serve as a safe point of rupture in the face of unexpected overloads or other adverse conditions.
During the activity, modifications to the main body of the platform were made for a more compliant magnetic bridge and new attachment points were added to support the electronics components and a newly designed protective cover.
Bio-inspired legs were designed to optimize locomotion on sand-like terrains and were tested showing improvements in speed and cost of transport.
For the swarm configuration, new agents were assembled and simplified exercises were simulated for further testing.
