Multi-arm robotic swimming with octopus-inspired compliant web

Michael Sfakiotakis, Asimina Kazakidi, Avgousta Chatzidaki, Theodoros Evdaimon, Dimitris P. Tsakiris

Research output: Contribution to conferencePaper

16 Citations (Scopus)

Abstract

This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62.

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/09/1418/09/14

Fingerprint

Robotic arms
Robotics
Robots
Propulsion
Kinematics
Costs
Swimming
Compliance

Keywords

  • biologically-inspired robots
  • octopus
  • soft robots
  • underwater robots

Cite this

Sfakiotakis, M., Kazakidi, A., Chatzidaki, A., Evdaimon, T., & Tsakiris, D. P. (2014). Multi-arm robotic swimming with octopus-inspired compliant web. 302-308. Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States. https://doi.org/10.1109/IROS.2014.6942576
Sfakiotakis, Michael ; Kazakidi, Asimina ; Chatzidaki, Avgousta ; Evdaimon, Theodoros ; Tsakiris, Dimitris P. / Multi-arm robotic swimming with octopus-inspired compliant web. Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States.7 p.
@conference{4ef8ceb6584b4b38a95e07ac6283d1be,
title = "Multi-arm robotic swimming with octopus-inspired compliant web",
abstract = "This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62.",
keywords = "biologically-inspired robots, octopus, soft robots, underwater robots",
author = "Michael Sfakiotakis and Asimina Kazakidi and Avgousta Chatzidaki and Theodoros Evdaimon and Tsakiris, {Dimitris P.}",
year = "2014",
month = "11",
day = "4",
doi = "10.1109/IROS.2014.6942576",
language = "English",
pages = "302--308",
note = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

}

Sfakiotakis, M, Kazakidi, A, Chatzidaki, A, Evdaimon, T & Tsakiris, DP 2014, 'Multi-arm robotic swimming with octopus-inspired compliant web' Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14 - 18/09/14, pp. 302-308. https://doi.org/10.1109/IROS.2014.6942576

Multi-arm robotic swimming with octopus-inspired compliant web. / Sfakiotakis, Michael; Kazakidi, Asimina; Chatzidaki, Avgousta; Evdaimon, Theodoros; Tsakiris, Dimitris P.

2014. 302-308 Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Multi-arm robotic swimming with octopus-inspired compliant web

AU - Sfakiotakis, Michael

AU - Kazakidi, Asimina

AU - Chatzidaki, Avgousta

AU - Evdaimon, Theodoros

AU - Tsakiris, Dimitris P.

PY - 2014/11/4

Y1 - 2014/11/4

N2 - This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62.

AB - This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62.

KW - biologically-inspired robots

KW - octopus

KW - soft robots

KW - underwater robots

UR - http://www.scopus.com/inward/record.url?scp=84911464396&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6942576

DO - 10.1109/IROS.2014.6942576

M3 - Paper

SP - 302

EP - 308

ER -

Sfakiotakis M, Kazakidi A, Chatzidaki A, Evdaimon T, Tsakiris DP. Multi-arm robotic swimming with octopus-inspired compliant web. 2014. Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States. https://doi.org/10.1109/IROS.2014.6942576