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

Michael Sfakiotakis, Asimina Kazakidi, Dimitris P. Tsakiris

Research output: Contribution to conferencePaper

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.

Conference

Conference2013 21st Mediterranean Conference on Control and Automation, MED 2013
CountryGreece
CityPlatanias-Chania, Crete
Period25/06/1328/06/13

Fingerprint

Robotic arms
Robotics
Maneuverability
Kinematics
Navigation
Experiments

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
Sfakiotakis, Michael ; Kazakidi, Asimina ; Tsakiris, Dimitris P. / Turning maneuvers of an octopus-inspired multi-arm robotic swimmer. Paper presented at 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece.7 p.
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Sfakiotakis, M, Kazakidi, A & Tsakiris, DP 2013, 'Turning maneuvers of an octopus-inspired multi-arm robotic swimmer' Paper presented at 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece, 25/06/13 - 28/06/13, pp. 1343-1349. https://doi.org/10.1109/MED.2013.6608894

Turning maneuvers of an octopus-inspired multi-arm robotic swimmer. / Sfakiotakis, Michael; Kazakidi, Asimina; Tsakiris, Dimitris P.

2013. 1343-1349 Paper presented at 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece.

Research output: Contribution to conferencePaper

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Sfakiotakis M, Kazakidi A, Tsakiris DP. Turning maneuvers of an octopus-inspired multi-arm robotic swimmer. 2013. 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