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 |
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Pages | 1343-1349 |
Number of pages | 7 |
DOIs | |
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 |
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Country | Greece |
City | Platanias-Chania, Crete |
Period | 25/06/13 → 28/06/13 |
Keywords
- biologically-inspired robots
- gaits
- octopus
- underwater propulsion