Conference Paper

Octopus-inspired Eight-arm Robotic Swimming by Sculling Movements

DOI: 10.1109/ICRA.2013.6631314 Conference: IEEE Int. Conf. Rob. Autom. (ICRA'13), Volume: pp. 5135-5141

ABSTRACT Inspired by the octopus arm morphology and exploiting recordings of swimming octopus, we investigate the propulsive capabilities of an 8-arm robotic system under various swimming gaits, including arm sculling and arm undulations, for the generation of forward propulsion. A dynamical model of the robotic system, that considers fluid drag contributions accurately evaluated by CFD methods, was used to study the effects of various kinematic parameters on propulsion. Exper- iments inside a water tank with an 8-arm robotic prototype successfully demonstrated the sculling-only gaits, attaining a maximum speed of approximately 0.2 body lengths per second. Similar trends were observed, as in the simulation studies, with respect to the effect of the kinematic parameters on propulsion.

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