BIOLOCH Project - Resources

ANNELID-INSPIRED UNDULATORY LOCOMOTION

Computational Models  

Biomechanical Eel model  NEW

 

Developed using the SIMUUN simulation environment for undulatory locomotion, under Matlab/Simulink.
Requires the SimMechanics toolbox.

 

Videos  

Eleven-link Polychaete-Like Undulatory Robot

 

  1. Forward gait on fine sand

 

  2. Turning gait on fine sand

 

  3. In-place rotation gait on fine sand

 

  4. Parallel-parking gait on fine sand

 

  5. Movement over medium sand

 

  6. Movement over coarse sand 

 

 Eight-link Polychaete-Like Undulatory Robot

 

  1. Forward gait on fine sand

 

 

Journal Publications

A biomimetic approach to robot locomotion in unstructured and slippery environments NEW

G. La Spina, T. Hesselberg, J. Williams and J.F.V. Vincent

Journal of Bionics Engineering, vol. 2, issue 1, pp. 01-14, 2005

Biomechanical analysis of Oligochaeta crawling

D. Accoto, P. Castrataro and P. Dario

Journal of Theoretical Biology, vol. 230, issue 1, pp. 49-55, 2004

Bio-inspired solutions for locomotion in the gastrointestinal tract: background and perspectives

A. Menciassi and P. Dario

Philosophical Transactions of the Royal Society - Series A, vol. 361, pp. 2287-2298, 2003

 

Conference/Workshop Presentations
Click on the icons on the right to download resources (proceedings papers, presentations, videos, etc.) from the Conference presentations 

Macro-Polychaete Robot  [data sheet for Robot Zoo presentation] NEW

 

A. Menciassi, G. La Spina, S. Gorini and P. Dario

3rd International Symposium on Adaptive Motion in Animals and Machines (AMAM2005), Ilmenau, Germany, September 25 - 30, 2005

Polychaete-like Undulatory Robotic Locomotion

 

D.P. Tsakiris, M. Sfakiotakis, A. Menciassi, G. La Spina and P. Dario

Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pp. 3029-3034, Barcelona, Spain, April 18 - 22, 2005

Undulatory Locomotion of Polychaete Annelids: Mechanics, Neural Control and Robotic Prototypes 

D.P. Tsakiris, A. Menciassi, M. Sfakiotakis, G. La Spina and P. Dario

Presented at the Annual Computational Neuroscience Meeting (CNS'2004), Baltimore, USA, July 17-22, 2004

A Simulation Environment for Undulatory Locomotion

M. Sfakiotakis and D.P. Tsakiris

Proceedings of the IASTED International Conference on Applied Simulation and Modelling (ASM 2004), pp. 154-159, Rhodes, Greece, June 28-30, 2004.

Polychaete-like undulatory robots for search-and-rescue operations    [abstract + poster]

D.P. Tsakiris, A. Menciassi, M. Sfakiotakis, G. La Spina and P. Dario

Presented at the IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR 2004), Bonn, Germany, May 24-26, 2004

A SMA Actuated Artificial Earthworm

 

A. Menciassi, S. Gorini, G. Pernorio and P. Dario

Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, USA, April 26 - May 1, 2004

MICROFABRICATION

Journal Publications

Helical dielectric elastomer actuators  NEW

 

  F. Carpi, A. Migliore, G. Serra and D. De Rossi

Smart Materials and Structures, vol. 14, pp. 01-07, 2005

A novel technological process for fabricating micro-tips for biomimetic adhesion  NEW

  G. La Spina, C. Stefanini, A. Menciassi and P. Dario

Journal of Micromechanics and Microengineering, vol. 15, pp.1576-158, 2005

Blends of Poly-(E-caprolactone) and Polysaccharides in Tissue Engineering Applications NEW

G. Ciardelli, V. Chiono, G. Vozzi, M. Pracella, A. Ahluwalia, N. Barbani, C. Cristallini and P. Giusti

Biomacromolecules, vol. 6, pp. 1961-1976, 2005

Innovative tissue engineering structures through advanced manufacturing technologies

G. Ciardelli, V. Chiono, C. Cristallini, N. Barbani, A. Ahluwalia, G. Vozzi, A. Previti, G. Tantussi, P. Giusti

Journal of Materials Science: Materials in Medicine, vol. 15, pp. 305-310, 2004

Dielectric elastomer cylindrical actuators: electromechanical modelling and experimental evaluation

F. Carpi and D. De Rossi

Materials Science & Engineering C, vol. 24, pp. 555-562, 2004

Electromechanical characterisation of dielectric elastomer planar actuators: 
comparative evaluation of different electrode materials and different counterloads

F. Carpi, P. Chiarelli, A. Mazzoldi and D. De Rossi

Sensors and Actuators A, vol. 107, pp. 85-95, 2003

 

Conference/Workshop Presentations
Click on the icons on the right to download resources (proceedings papers, presentations, videos, etc.) from the Conference presentations 

Theoretical description and fabrication of a new dielectric elastomer actuator showing linear contractions NEW

G. Vozzi, V. Chiono, G. Ciardelli, P. Giusti,  A. Previti, C. Cristallini, N. Barbani, G. Tantussi, A. Ahluwalia

Proceedings of the 9th International Conference on New Actuators (ACTUATOR 2004), pp.344-347, Bremen, Germany, June 14-16, 2004.

Microfabrication of biodegradable polymeric structures for guided tissue engineering

G. Vozzi, V. Chiono, G. Ciardelli, P. Giusti,  A. Previti, C. Cristallini, N. Barbani, G. Tantussi, A. Ahluwalia

Proceedings of the Materials Research Society Fall Meeting, vol. 1, pp.163-163, Boston, USA, December 1-5, 2003