Octopus-inspired eight-arm robotic swimming by sculling movements

Michael Sfakiotakis, Asimina Kazakidi, Nikolaos Pateromichelakis, Dimitris P. Tsakiris

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

Inspired by the octopus arm morphology and exploiting recordings of swimming octopus, we investigate the propulsive capabilities of an 8-arm robotic system under various swimming gaits, including arm sculling and arm undulations, for the generation of forward propulsion. A dynamical model of the robotic system, that considers fluid drag contributions accurately evaluated by CFD methods, was used to study the effects of various kinematic parameters on propulsion. Experiments inside a water tank with an 8-arm robotic prototype successfully demonstrated the sculling-only gaits, attaining a maximum speed of approximately 0.2 body lengths per second. Similar trends were observed, as in the simulation studies, with respect to the effect of the kinematic parameters on propulsion.

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period6/05/1310/05/13

Fingerprint

Robotic arms
Propulsion
Kinematics
Water tanks
Drag
Computational fluid dynamics
Robotics
Fluids
Swimming
Experiments

Keywords

  • biologically-inspired robots
  • hydrodynamics
  • octopus
  • underwater propulsion

Cite this

Sfakiotakis, M., Kazakidi, A., Pateromichelakis, N., & Tsakiris, D. P. (2013). Octopus-inspired eight-arm robotic swimming by sculling movements. 5155-5161. Paper presented at 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany. https://doi.org/10.1109/ICRA.2013.6631314
Sfakiotakis, Michael ; Kazakidi, Asimina ; Pateromichelakis, Nikolaos ; Tsakiris, Dimitris P. / Octopus-inspired eight-arm robotic swimming by sculling movements. Paper presented at 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany.7 p.
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Sfakiotakis, M, Kazakidi, A, Pateromichelakis, N & Tsakiris, DP 2013, 'Octopus-inspired eight-arm robotic swimming by sculling movements' Paper presented at 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13 - 10/05/13, pp. 5155-5161. https://doi.org/10.1109/ICRA.2013.6631314

Octopus-inspired eight-arm robotic swimming by sculling movements. / Sfakiotakis, Michael; Kazakidi, Asimina; Pateromichelakis, Nikolaos; Tsakiris, Dimitris P.

2013. 5155-5161 Paper presented at 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany.

Research output: Contribution to conferencePaper

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T1 - Octopus-inspired eight-arm robotic swimming by sculling movements

AU - Sfakiotakis, Michael

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AB - Inspired by the octopus arm morphology and exploiting recordings of swimming octopus, we investigate the propulsive capabilities of an 8-arm robotic system under various swimming gaits, including arm sculling and arm undulations, for the generation of forward propulsion. A dynamical model of the robotic system, that considers fluid drag contributions accurately evaluated by CFD methods, was used to study the effects of various kinematic parameters on propulsion. Experiments inside a water tank with an 8-arm robotic prototype successfully demonstrated the sculling-only gaits, attaining a maximum speed of approximately 0.2 body lengths per second. Similar trends were observed, as in the simulation studies, with respect to the effect of the kinematic parameters on propulsion.

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Sfakiotakis M, Kazakidi A, Pateromichelakis N, Tsakiris DP. Octopus-inspired eight-arm robotic swimming by sculling movements. 2013. Paper presented at 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany. https://doi.org/10.1109/ICRA.2013.6631314