Multi-arm robotic swimming with octopus-inspired compliant web

Michael Sfakiotakis; Asimina Kazakidi; Avgousta Chatzidaki; Theodoros Evdaimon; Dimitris Tsakiris

doi:10.1109/IROS.2014.6942576

Multi-arm robotic swimming with octopus-inspired compliant web

Michael Sfakiotakis, Asimina Kazakidi, Avgousta Chatzidaki, Theodoros Evdaimon, Dimitris Tsakiris

Department of Computer Science

Research output: Contribution to conference › Paper › peer-review

34 Citations (Scopus)

Abstract

This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62

Original language	English
Pages	302-308
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2014.6942576
Publication status	Published - Sept 2014
Event	Intelligent Robots and Systems - Chicago, United States of America Duration: 14 Sept 2014 → 18 Sept 2014

Conference

Conference	Intelligent Robots and Systems
Abbreviated title	IROS-2014
Country/Territory	United States of America
City	Chicago
Period	14 Sept 2014 → 18 Sept 2014

Keywords

prototypes
manipulators
joints
computational modeling
propulsion
simulation

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10.1109/IROS.2014.6942576

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title = "Multi-arm robotic swimming with octopus-inspired compliant web",

abstract = "This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62",

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author = "Michael Sfakiotakis and Asimina Kazakidi and Avgousta Chatzidaki and Theodoros Evdaimon and Dimitris Tsakiris",

year = "2014",

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doi = "10.1109/IROS.2014.6942576",

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AU - Kazakidi, Asimina

AU - Chatzidaki, Avgousta

AU - Evdaimon, Theodoros

AU - Tsakiris, Dimitris

PY - 2014/9

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N2 - This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62

AB - This paper presents an 8-arm compliant robot, able to propel itself underwater by movements of its arms, either alone or interconnected via a passively-compliant web. The robot is inspired by the morphology and outstanding locomotor capabilities of the octopus, and is fabricated primarily from compliant materials. This robotic swimmer is first investigated computationally via dynamical models capturing the arm and web compliance, and indicating the effect of various kinematic parameters of the system on its motion. The performance of the robotic prototype is, then, tested experimentally, to demonstrate this novel mode of underwater propulsion by combining various patterns of sculling movements of the arms and web. Speeds of 0.5 body lengths per second and propulsive forces of up to 10.5 N were achieved, with a cost of transport as low as 0.62

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KW - joints

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KW - propulsion

KW - simulation

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Y2 - 14 September 2014 through 18 September 2014

ER -

Multi-arm robotic swimming with octopus-inspired compliant web

Abstract

Conference

Keywords

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