Turning maneuvers of an octopus-inspired multi-arm robotic swimmer

Michael Sfakiotakis; Asimina Kazakidi; Dimitris P. Tsakiris

doi:10.1109/MED.2013.6608894

Turning maneuvers of an octopus-inspired multi-arm robotic swimmer

Michael Sfakiotakis, Asimina Kazakidi, Dimitris P. Tsakiris

Biomedical Engineering

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

7 Citations (Scopus)

Abstract

Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.

Original language	English
Pages	1343-1349
Number of pages	7
DOIs	https://doi.org/10.1109/MED.2013.6608894
Publication status	Published - 26 Sep 2013
Event	2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece Duration: 25 Jun 2013 → 28 Jun 2013

Conference

Conference	2013 21st Mediterranean Conference on Control and Automation, MED 2013
Country	Greece
City	Platanias-Chania, Crete
Period	25/06/13 → 28/06/13

Keywords

biologically-inspired robots
gaits
octopus
underwater propulsion

Access to Document

10.1109/MED.2013.6608894

Link to publication in Scopus

Fingerprint Dive into the research topics of 'Turning maneuvers of an octopus-inspired multi-arm robotic swimmer'. Together they form a unique fingerprint.

Cite this

@conference{51bdf3cc47d14412bf3ea3417f0f7982,

title = "Turning maneuvers of an octopus-inspired multi-arm robotic swimmer",

abstract = "Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.",

keywords = "biologically-inspired robots, gaits, octopus, underwater propulsion",

author = "Michael Sfakiotakis and Asimina Kazakidi and Tsakiris, {Dimitris P.}",

year = "2013",

month = sep,

day = "26",

doi = "10.1109/MED.2013.6608894",

language = "English",

pages = "1343--1349",

note = "2013 21st Mediterranean Conference on Control and Automation, MED 2013 ; Conference date: 25-06-2013 Through 28-06-2013",

}

TY - CONF

T1 - Turning maneuvers of an octopus-inspired multi-arm robotic swimmer

AU - Sfakiotakis, Michael

AU - Kazakidi, Asimina

AU - Tsakiris, Dimitris P.

PY - 2013/9/26

Y1 - 2013/9/26

N2 - Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.

AB - Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.

KW - biologically-inspired robots

KW - gaits

KW - octopus

KW - underwater propulsion

UR - http://www.scopus.com/inward/record.url?scp=84885209471&partnerID=8YFLogxK

U2 - 10.1109/MED.2013.6608894

DO - 10.1109/MED.2013.6608894

M3 - Paper

AN - SCOPUS:84885209471

SP - 1343

EP - 1349

T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013

Y2 - 25 June 2013 through 28 June 2013

ER -