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

doi:10.1109/BioRob.2012.6290684

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

^*Corresponding author for this work

Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

13 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.

Original language	English
Title of host publication	2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	725-730
Number of pages	6
ISBN (Print)	9781457711992
DOIs	https://doi.org/10.1109/BioRob.2012.6290684
Publication status	Published - 31 Aug 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

Keywords

biologically-Inspired Robots
finite element method
muscular hydrostats
octopus

Access to Document

10.1109/BioRob.2012.6290684

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). IEEE. https://doi.org/10.1109/BioRob.2012.6290684

@inproceedings{1d014d0c2126421db61f037ae4a85936,

title = "Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm",

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.}",

year = "2012",

month = aug,

day = "31",

doi = "10.1109/BioRob.2012.6290684",

language = "English",

isbn = "9781457711992",

pages = "725--730",

booktitle = "2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)",

publisher = "IEEE",

note = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 ; Conference date: 24-06-2012 Through 27-06-2012",

}

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 et al.
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 proceeding › Conference contribution book

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AU - Vavourakis, Vasileios

AU - Bampasakis, Dimitris

AU - Kazakidi, Asimina

AU - Pateromichelakis, Nikolaos

AU - Ekaterinaris, John A.

AU - Tsakiris, Dimitris P.

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N2 - 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.

AB - 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.

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Y2 - 24 June 2012 through 27 June 2012

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

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