Tesi etd-11092016-160141 |
Link copiato negli appunti
Tipo di tesi
Tesi di laurea magistrale
Autore
DEL FIOL, TOMMASO
URN
etd-11092016-160141
Titolo
Exploiting Variable Stiffness Actuators to Steer a Snake Robot with 2D and 3D Movements: Modelling, Simulation and Control
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
relatore Ing. Settimi, Alessandro
controrelatore Prof. Pollini, Lorenzo
relatore Ing. Settimi, Alessandro
controrelatore Prof. Pollini, Lorenzo
Parole chiave
- Snake Robot
- Variable Stiffness Actuator
- Virtual Chassis
Data inizio appello
25/11/2016
Consultabilità
Completa
Riassunto
The work described in this thesis is divided in two main parts: the first part describes
the design, modelling and some control techniques for a snake-like robot based on Variable Stiffness Actuator by qbrobotics. In the second part some preliminary studies and
simulation in the area of local level motion planning are presented.
the design, modelling and some control techniques for a snake-like robot based on Variable Stiffness Actuator by qbrobotics. In the second part some preliminary studies and
simulation in the area of local level motion planning are presented.
File
| Nome file | Dimensione |
|---|---|
| tesi.pdf | 10.93 Mb |
Contatta l’autore |
|