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ANNELID-INSPIRED
UNDULATORY LOCOMOTION
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Computational
Models
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Biomechanical
Eel model
NEW
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Developed
using the SIMUUN simulation environment for undulatory locomotion,
under Matlab/Simulink.
Requires the SimMechanics toolbox.
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Videos
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Eleven-link Polychaete-Like Undulatory Robot
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1.
Forward
gait on fine sand
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2.
Turning
gait on fine sand
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3.
In-place
rotation gait on fine sand
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4.
Parallel-parking
gait on fine sand
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5.
Movement
over medium sand
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6.
Movement
over coarse sand
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Eight-link Polychaete-Like Undulatory Robot
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1.
Forward
gait on fine sand
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Journal
Publications
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A biomimetic
approach to robot locomotion in unstructured and slippery environments NEW
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G.
La Spina, T. Hesselberg, J. Williams and J.F.V.
Vincent
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Journal of
Bionics Engineering,
vol. 2, issue 1, pp. 01-14, 2005
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Biomechanical analysis of Oligochaeta crawling
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D.
Accoto, P. Castrataro and P. Dario
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Journal of Theoretical Biology,
vol. 230, issue 1, pp. 49-55, 2004
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Bio-inspired solutions for
locomotion in the gastrointestinal tract: background and perspectives
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A.
Menciassi and P. Dario
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Philosophical
Transactions of the Royal Society - Series A, vol. 361, pp. 2287-2298, 2003
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Conference/Workshop
Presentations
Click on the icons on the right to
download resources (proceedings papers, presentations, videos, etc.) from the
Conference presentations
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Macro-Polychaete
Robot
[data sheet for Robot Zoo presentation] NEW
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A. Menciassi,
G. La Spina, S. Gorini and P. Dario
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3rd
International Symposium on Adaptive Motion in Animals and Machines (AMAM2005),
Ilmenau, Germany, September 25 - 30, 2005.
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Polychaete-like
Undulatory Robotic Locomotion
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D.P.
Tsakiris,
M. Sfakiotakis, A. Menciassi,
G. La Spina and P. Dario
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Proceedings
of the 2005 IEEE International Conference on Robotics and Automation (ICRA
2005), pp. 3029-3034, Barcelona, Spain, April 18 - 22, 2005.
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Undulatory
Locomotion of Polychaete Annelids: Mechanics, Neural Control and Robotic
Prototypes
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D.P.
Tsakiris, A. Menciassi,
M. Sfakiotakis, G. La Spina and P. Dario
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Presented
at the Annual Computational Neuroscience Meeting
(CNS'2004), Baltimore, USA, July 17-22, 2004
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A
Simulation Environment for Undulatory Locomotion
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M.
Sfakiotakis
and D.P. Tsakiris
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Proceedings of the IASTED International Conference on Applied Simulation
and Modelling (ASM 2004), pp. 154-159, Rhodes, Greece, June 28-30, 2004.
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Polychaete-like undulatory robots for search-and-rescue operations
[abstract + poster]
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D.P.
Tsakiris, A. Menciassi,
M. Sfakiotakis, G. La Spina and P. Dario
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Presented at the IEEE International
Workshop on Safety, Security, and Rescue Robotics (SSRR 2004), Bonn,
Germany, May 24-26, 2004.
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A SMA
Actuated Artificial Earthworm
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A.
Menciassi, S. Gorini, G. Pernorio and P. Dario
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Proceedings
of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004),
New Orleans, USA, April 26 - May 1, 2004.
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MICROFABRICATION
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Journal
Publications
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Helical dielectric
elastomer actuators NEW
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F. Carpi, A. Migliore, G. Serra and D. De Rossi
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Smart
Materials and Structures, vol. 14, pp. 01-07, 2005
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A novel
technological process for fabricating micro-tips for biomimetic adhesion NEW
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G. La Spina, C. Stefanini, A. Menciassi and P. Dario
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Journal
of Micromechanics and Microengineering, vol. 15, pp.1576-158, 2005
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Blends of Poly-(E-caprolactone) and Polysaccharides in Tissue
Engineering Applications NEW
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G.
Ciardelli, V. Chiono, G. Vozzi, M. Pracella, A. Ahluwalia, N. Barbani, C.
Cristallini and P. Giusti
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Biomacromolecules, vol.
6, pp. 1961-1976, 2005
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Innovative tissue engineering structures through advanced manufacturing
technologies
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G.
Ciardelli, V. Chiono, C. Cristallini, N. Barbani, A. Ahluwalia, G. Vozzi, A.
Previti, G. Tantussi, P. Giusti
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Journal
of Materials Science: Materials in Medicine, vol. 15, pp. 305-310, 2004
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Dielectric elastomer cylindrical
actuators: electromechanical modelling and experimental evaluation
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F.
Carpi and
D. De Rossi
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Materials
Science & Engineering C, vol. 24, pp. 555-562, 2004
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Electromechanical characterisation of dielectric elastomer planar
actuators:
comparative evaluation of different electrode materials and different
counterloads
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F.
Carpi, P. Chiarelli, A. Mazzoldi and D.
De Rossi
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Sensors
and Actuators A, vol. 107, pp. 85-95, 2003
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Conference/Workshop
Presentations
Click on the icons on the right to
download resources (proceedings papers, presentations, videos, etc.) from the
Conference presentations
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Theoretical
description and fabrication of a new dielectric elastomer actuator showing
linear contractions NEW
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G.
Vozzi,
V. Chiono,
G. Ciardelli, P. Giusti, A. Previti, C. Cristallini, N. Barbani, G.
Tantussi, A. Ahluwalia
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Proceedings
of the 9th International Conference on New Actuators (ACTUATOR 2004),
pp.344-347, Bremen, Germany, June 14-16, 2004.
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Microfabrication of biodegradable polymeric structures for guided tissue
engineering
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G.
Vozzi,
V. Chiono,
G. Ciardelli, P. Giusti, A. Previti, C. Cristallini, N. Barbani, G.
Tantussi, A. Ahluwalia
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Proceedings
of the Materials Research Society Fall Meeting, vol. 1, pp.163-163,
Boston, USA, December 1-5, 2003.
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