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Abstract: Soft-bodied
robotics represents an exciting new frontier with the potential to enable tasks that
humans can't do due to space, environmental, or safety limitations. Much work has been
done towards mimicking biological systems in the control and design of crawling
soft-bodied robots. A numerical model is proposed that adapts analysis conducted
previously by Schuldt et al. to a wider ... read morevariety of terrain, and in particular to
crawling on non-planar substrates. Matlab Simulation results show the model crawls just
as robustly in non-planar environments as in the planar ones investigated in prior
work.
Thesis (M.S.)--Tufts University,
2017.
Submitted to the Dept. of Mechanical
Engineering.
Advisor: Jason
Rife.
Committee: Gary Leisk, and Bruce
Panilaitis.
Keywords: Mechanical engineering, and
Robotics.read less
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