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

Michael Sfakiotakis, Asimina Kazakidi, Dimitris P. Tsakiris

Research output: Contribution to conferencePaperpeer-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 languageEnglish
Pages1343-1349
Number of pages7
DOIs
Publication statusPublished - 26 Sep 2013
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: 25 Jun 201328 Jun 2013

Conference

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

Keywords

  • biologically-inspired robots
  • gaits
  • octopus
  • underwater propulsion

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