Education Efficient Rest-to-rest trajectory planning for underactuated systems 2 Dec 20242 Dec 2024 Project Description This thesis explores the use of Rapidly-Exploring Random Trees (RRT) to tackle a key challenge in robotics: planning efficient rest-to-rest trajectories for underactuated systems—systems with fewer actuators than…
Senza categoria Evaluation of the carrying capacity of Beveloid gears 2 May 20247 Nov 2024 Project Description Beveloid gears are spur (or helical) gears with an addendum coefficient that varies linearly along the tooth width. These gears are particularly interesting when mounted with parallel axes,…
Senza categoria Overview of the State of the Art for Beveloid Gears 2 May 20242 May 2024 Project Description Beveloid gears are spur gears (or helical) with an addendum coefficient that varies linearly along the tooth width. These gears are particularly interesting when mounted with parallel axes,…
Senza categoria Development of a digital twin for dual-arm simulations 19 Mar 20249 Apr 2024 source: https://isaac-orbit.github.io/orbit/source/features/environments.html Project Description When dealing with robotics, the implementation and the experimentation of new controllers on real hardware are not always possible due to hardware unavailability and unpredictable behaviors…
Senza categoria Practical Review and Experimental Validation of Robot Force Control for Dual-Arm Applications 28 Feb 20249 Apr 2024 Project Description When addressing dual-arm manipulation, different approaches are available in literature on how to limit and control the interaction forces that the robots exert on the object. One may…
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 