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

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

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Keywords

biologically-inspired robots
gaits
octopus
underwater propulsion

Cite this

Sfakiotakis, M., Kazakidi, A., & Tsakiris, D. P. (2013). Turning maneuvers of an octopus-inspired multi-arm robotic swimmer. 1343-1349. Paper presented at 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece. https://doi.org/10.1109/MED.2013.6608894

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Access to Document

10.1109/MED.2013.6608894

Link to publication in Scopus