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.

Original languageEnglish
Pages5155-5161
Number of pages7
DOIs
Publication statusPublished - 17 Oct 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Conference

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

Keywords

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

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