| KEYWORD |
Simulation and Control of a Reconfigurable Robot
keywords CONTROL ALGORITMS, MOBILE ROBOT, ROBOTICS, SIMULATION
Reference persons FABIO CARAPELLESE
Research Groups MOREnergy Lab
Thesis type EXPERIMENTAL AND MODELING, NUMERICAL SIMULATION, RESEARCH
Description The proposed thesis project focuses on a novel reconfigurable robot. This system, composed of multiple units, can assemble into various robotic structures tailored to specific tasks, such as climbing obstacles, ascending stairs, moving objects, or lifting loads. Each individual unit is a simple robot with a three-link structure designed primarily for walking.
The thesis project aims to develop analytical tools for system simulation and control and to create a small-scale prototype. Based on the student's interests, the thesis may include:
- Optimization of the walking trajectory for a single unit,
- Trajectory optimization for obstacle avoidance and stair climbing,
- Development of algorithms for positioning and assembling two or more units into a cohesive robotic structure,
- Algorithms for surface climbing and load lifting.
The selected activities are carried out using simulation tools within the MATLAB-Simscape environment.
Required skills Matlab, Simulink, Simscape Multibody,
Deadline 06/11/2025
PROPONI LA TUA CANDIDATURA