Study and fabrication of bioinspired Octopus arm mockups tested on a multipurpose platform

This paper illustrates a robotic approach to the study of the Octopus vulgaris arm. On the base of the embodied intelligence theory, a study on the interaction among materials, mechanisms and actuation systems has been conducted. Starting from the observation of the performances of the octopus and drawing inspiration by its functional anatomy, several mock-ups, made by different materials and actuated by different cable arrangements have been tested. For this purpose a versatile platform has been designed and built, where the various solutions have been mounted and compared. The final aim of the work is to replicate the main complex movements of the octopus in a robotic platform. In particular the reaching movement, which best represents the stereotyped motion pattern of the octopus arm, has been reproduced.