Octopus-inspired eight-arm robotic swimming by sculling movements

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

doi:10.1109/ICRA.2013.6631314

Octopus-inspired eight-arm robotic swimming by sculling movements

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

Biomedical Engineering

Research output: Contribution to conference › Paper › peer-review

43 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 language	English
Pages	5155-5161
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2013.6631314
Publication status	Published - 17 Oct 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

Keywords

biologically-inspired robots
hydrodynamics
octopus
underwater propulsion

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10.1109/ICRA.2013.6631314

Cite this

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AU - Kazakidi, Asimina

AU - Pateromichelakis, Nikolaos

AU - Tsakiris, Dimitris P.

PY - 2013/10/17

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KW - hydrodynamics

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Octopus-inspired eight-arm robotic swimming by sculling movements

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Keywords

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