polito.it
Politecnico di Torino (logo)

Modelling and Simulation of a Four Legged Robot

Francesco Tracuzzi Spadaro

Modelling and Simulation of a Four Legged Robot.

Rel. Giovanni Gerardo Muscolo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2019

[img] PDF (Tesi_di_laurea) - Tesi
Restricted to: Repository staff only until 18 December 2022 (embargo date).
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (20MB)
[img] Archive (ZIP) (Documenti_allegati) - Other
Restricted to: Repository staff only until 18 December 2022 (embargo date).
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (72MB)
Abstract:

Modelling and Simulation of a Four Legged Robot Legged animals are capable of rapid movement, are efficient from the point of view of the energy and are able to adapt their gait depending on environmental conditions. Motions like walking, trotting, galloping and jumping, are difficult to evaluate and replicate due to their being consequence of tricky interaction of different system like the musculoskeletal system and the central and peripheral nervous systems, not to mention the in influence of the environment. In this paper we present the implementation, the test, and we study the response of, a four-legged robot with 1 DOF for each leg and with motors placed on the hip. We want to focalize the attention on the response of the system according to the vary of the rotational springs placed in the passive knees. In a second phase, we showed how the response of the system change with adding a flexible spine made with a passive joint and a rotational spring, that split in two half the robot.

Relators: Giovanni Gerardo Muscolo
Academic year: 2019/20
Publication type: Electronic
Number of Pages: 79
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: UNSPECIFIED
URI: http://webthesis.biblio.polito.it/id/eprint/13165
Modify record (reserved for operators) Modify record (reserved for operators)