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A. Gasparetto, R. Vidoni
Foot-force distribution and leg posture analysis for a spider-inspired climbing robot
Proceedings of the First International Conference on Applied Bionics and Biomechanics - ICABB 2010. Venezia, October 14-16, 2010

Abstract: Recent works and applications demonstrated how bio-mimesis can lead to important technical solutions in order to achieve efficient systems able to climb, walk, fly or swim. A bio-inspired approach in robotic legged systems has been adopted in this work in order to make a step further in the study and realization of effective walking and climbing robots. Thus, taking into account the anatomy and the adhesive and locomotion capabilities of the spider, the foot force and torque distribution in different operative and slope conditions are studied, simulated and discussed in order to solve the static and quasi-static problems. Moreover, in order to minimize the energy requirements, a posture evaluation made by comparing different leg configurations has been carried out.


Area: Robotica

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