Tag: motion planning
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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
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Design and testing of an SMA-actuated fin for bioinspired soft robots
The thesis consists of designing a fin inspired by the cownose ray, entirely made of silicone rubber, without any rigid mechanism inside, and actuated by SMA (Shape Memory Alloy) coils. The lack of rigid elements inside the fin helps reproduce better the natural movement of these fishes, and arranging the coils in pairs, they work