Category: Bioinspired
-
Control of a Soft Mackerel-inspired Robot
This thesis focuses on the development of the control algorithm for a mackerel-inspired robot. The robot has a rigid head containing sensors and motors, a soft body made of silicone rubber with a TPU-made backbone, and a compliant caudal fin. The objective of this thesis is to develop a control algorithm using ROS2 to enable…
-
Virtual Model Control of a Soft Compliant Manipulator
Soft continuum robotic arms offer unparalleled dexterity and compliance over rigid bodies, thus facilitating safe and robust interactions with environments. These characteristics make them ideal for diverse applications, such as collaborative robotics or medical contexts. However, due to their virtually infinite degrees of freedom, control of these systems has always been a challenge. Various control…
-
Control of an aquatic snake robot inspired by lampreys’ Central Pattern Generator
Aquatic robots inspired by snakes or eels can move with extreme agility and maneuverability, and are able to swim through narrow spaces and confined environments, opening the possibility to use these robots for environmental monitoring, search and rescue or infrastructure inspection. This robot is composed of nine modules that move generating a wave traveling from…
-
Study of the propulsive performance of fins
The most common propulsive strategy of fishes and cetaceans is the Body-Caudal fin movement in which the animal undulates or oscillates its body, pushing backward the surrounding water. Most of the thrust is generated by the movement of the caudal fin, and every fish has a peculiar fin shape with a particular motion law, which…