Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm

Vasileios Vavourakis, Dimitris Bampasakis, Asimina Kazakidi, Nikolaos Pateromichelakis, John A. Ekaterinaris, Dimitris P. Tsakiris

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

9 Citations (Scopus)

Abstract

This work addresses open-loop control strategies for continuum robotic manipulators inspired by the octopus arm, which are based on solving numerically a detailed elasto-dynamic model. Octopus arms are muscular hydrostats, capable of performing a variety of dexterous movements, which can be of particular interest to the design of relevant robotic prototypes. Octopus arm muscles consist of fibers and surrounding tissues, and exhibit nearly incompressible hyperelastic behavior. In the present work, they are simulated by a three-dimensional non-linear finite element numerical procedure, using appropriate activation functions for the generation of primitive octopus arm behaviors involving large deformations, such as bending, reaching, fetching and grasping. Preliminary experimental evaluation is performed using an SMA-actuated robotic prototype.

LanguageEnglish
Title of host publication2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages725-730
Number of pages6
ISBN (Print)9781457711992
DOIs
Publication statusPublished - 31 Aug 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period24/06/1227/06/12

Fingerprint

Robotic arms
Robotics
Manipulators
Muscle
Dynamic models
Chemical activation
Tissue
Fibers

Keywords

  • biologically-Inspired Robots
  • finite element method
  • muscular hydrostats
  • octopus

Cite this

Vavourakis, V., Bampasakis, D., Kazakidi, A., Pateromichelakis, N., Ekaterinaris, J. A., & Tsakiris, D. P. (2012). Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm. In 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 725-730). Piscataway, NJ: IEEE. https://doi.org/10.1109/BioRob.2012.6290684
Vavourakis, Vasileios ; Bampasakis, Dimitris ; Kazakidi, Asimina ; Pateromichelakis, Nikolaos ; Ekaterinaris, John A. ; Tsakiris, Dimitris P. / Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm. 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). Piscataway, NJ : IEEE, 2012. pp. 725-730
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abstract = "This work addresses open-loop control strategies for continuum robotic manipulators inspired by the octopus arm, which are based on solving numerically a detailed elasto-dynamic model. Octopus arms are muscular hydrostats, capable of performing a variety of dexterous movements, which can be of particular interest to the design of relevant robotic prototypes. Octopus arm muscles consist of fibers and surrounding tissues, and exhibit nearly incompressible hyperelastic behavior. In the present work, they are simulated by a three-dimensional non-linear finite element numerical procedure, using appropriate activation functions for the generation of primitive octopus arm behaviors involving large deformations, such as bending, reaching, fetching and grasping. Preliminary experimental evaluation is performed using an SMA-actuated robotic prototype.",
keywords = "biologically-Inspired Robots, finite element method, muscular hydrostats, octopus",
author = "Vasileios Vavourakis and Dimitris Bampasakis and Asimina Kazakidi and Nikolaos Pateromichelakis and Ekaterinaris, {John A.} and Tsakiris, {Dimitris P.}",
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Vavourakis, V, Bampasakis, D, Kazakidi, A, Pateromichelakis, N, Ekaterinaris, JA & Tsakiris, DP 2012, Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm. in 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, Piscataway, NJ, pp. 725-730, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290684

Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm. / Vavourakis, Vasileios; Bampasakis, Dimitris; Kazakidi, Asimina; Pateromichelakis, Nikolaos; Ekaterinaris, John A.; Tsakiris, Dimitris P.

2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). Piscataway, NJ : IEEE, 2012. p. 725-730.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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AU - Vavourakis, Vasileios

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AU - Ekaterinaris, John A.

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Vavourakis V, Bampasakis D, Kazakidi A, Pateromichelakis N, Ekaterinaris JA, Tsakiris DP. Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm. In 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). Piscataway, NJ: IEEE. 2012. p. 725-730 https://doi.org/10.1109/BioRob.2012.6290684