Turning maneuvers of an octopus-inspired multi-arm robotic swimmer

Author

Sfakiotakis, Michael ; Kazakidi, Asimina ; Tsakiris, Dimitris P.

Author_Institution

Inst. of Comput. Sci., Found. for Res. & Technol. - Hellas (FORTH), Heraklion, Greece

fYear

2013

fDate

25-28 June 2013

Firstpage

1343

Lastpage

1349

Abstract

Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.

Keywords

manipulator dynamics; manipulator kinematics; marine systems; agile underwater maneuvering; associated dynamical model; eight-arm robotic swimmer; kinematic parameters; multiarm maneuverability; octopus-inspired multiarm robotic swimmer; sculling arm movements; turning gaits; turning maneuver designing; underwater navigation; Computational modeling; Manipulators; Prototypes; Simulation; Trajectory; Turning; Biologically-Inspired Robots; Gaits; Octopus; Underwater Propulsion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation (MED), 2013 21st Mediterranean Conference on

Conference_Location

Chania

Print_ISBN

978-1-4799-0995-7

Type

conf

DOI

10.1109/MED.2013.6608894

Filename

6608894