Energetics and Dynamics of a Shape Changing Elastic Robot

This thesis studies the fundamental aspects of the energetics and dynamics of an elastic robot able to change its morphology. The approach taken is to develop and analyze a robot made of elastic curved beam driven by a single motor with shape-changing ability. By properly changing its shape and the rotational frequency of the motor, it is shown theoretically and experimentally how the robot is able to achieve the desired dynamics and behaviours while maximizing its power efficiency, energy efficiency and energy harvesting ability. The results show the importance of morphology in the energetics and dynamics of an elastic robot.