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.
| Language | English |
|---|---|
| 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 |
|---|---|
| Country | Greece |
| City | Platanias-Chania, Crete |
| Period | 25/06/13 → 28/06/13 |
Fingerprint
Keywords
- biologically-inspired robots
- gaits
- octopus
- underwater propulsion
Cite this
}
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 conference › Paper
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
SP - 1343
EP - 1349
ER -