Lessons for Robotics From the Control Architecture of the Octopus

Sivitilli, Dominic M.; Smith, Joshua R.; Gire, David H.

doi:10.3389/frobt.2022.862391

Cited by 6 publications

(2 citation statements)

References 87 publications

(156 reference statements)

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“…Our investigation of nerve fiber connections illustrates that, at the least, spatial information is preserved within the ANC, creating a suckerotopy. Combined with the projections that interconnect suckers, such a neural architecture would support many behaviors seen in suckers, from passing objects along suckers to anisotropic detection of chemical cues 7,[33][34][35] . In particular, deformation of suckers has been thought to underlie shape discrimination 36 .…”

Section: Discussionmentioning

confidence: 99%

Neuronal segmentation in cephalopod arms

Olson,

Schulz,

Ragsdale

2024

Preprint

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The prehensile arms of the cephalopod are among these animals' most remarkable features, but little is known about the neural circuitry governing arm and sucker movements1,2. Here, we investigated the cellular and molecular organization of the arm nervous system, focusing on the massive axial nerve cords (ANCs) in the octopus arms which collectively harbor four times as many neurons as the central brain3. We found that the ANC is segmented. In transverse cross sections, the ANC cell body layer wraps around the neuropil with no apparent segregation of sensory and motor neurons. In longitudinal sections, however, ANC neurons form segments, setting up a modular organization to the adjoining ANC neuropil. The septa between each segment are, in contrast, neuron-poor but contain nerve exits, vasculature and abundant collagen. Surprisingly, nerves exiting from neighboring septa differ in their fiber trajectories indicating that multiple adjoining segments must cooperate to innervate the arm musculature fully. The nerves for each sucker also exit through septa and set up a spatial “suckerotopy” in the ANC. A strong link between ANC segmentation and flexible sucker-laden arms was confirmed by comparative study of squid arms and tentacles. The ANC segmental modules represent a new template for understanding the motor control of octopus soft tissues. They also provide the first example of nervous system segmentation in a mollusc4.

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Section: Discussionmentioning

confidence: 99%

Neuronal segmentation in cephalopod arms

Olson,

Schulz,

Ragsdale

2024

Preprint

View full text Add to dashboard Cite

show abstract

“…Our investigation of nerve fiber connections illustrates that, at the least, spatial information is preserved within the ANC, creating a suckerotopy. Combined with the projections that interconnect suckers, such a neural architecture would support many behaviors seen in suckers, from passing objects along suckers to anisotropic detection of chemical cues 5,[30][31][32] . In particular, shape deformation of suckers has been thought to underlie texture discrimination 33 .…”

Section: Discussionmentioning

confidence: 99%

Neuronal segmentation in cephalopod arms

Olson,

Schulz,

Ragsdale

2024

Preprint

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The prehensile arms of the cephalopod are among these animals most remarkable features, but the neural circuitry governing arm and sucker movements remains largely unknown. We studied the neuronal organization of the adult axial nerve cord (ANC) ofOctopus bimaculoideswith molecular and cellular methods. The ANCs, which lie in the center of every arm, are the largest neuronal structures in the octopus, containing four times as many neurons as found in the central brain. In transverse cross section, the cell body layer (CBL) of the ANC wraps around its neuropil (NP) with little apparent segregation of sensory and motor neurons or nerve exits. Strikingly, when studied in longitudinal sections, the ANC is segmented. ANC neuronal cell bodies form columns separated by septa, with 15 segments overlying each pair of suckers. The segments underlie a modular organization to the ANC neuropil: neuronal cell bodies within each segment send the bulk of their processes directly into the adjoining neuropil, with some reaching the contralateral side. In addition, some nerve processes branch upon entering the NP, forming short-range projections to neighboring segments and mid-range projections to the ANC segments of adjoining suckers. The septa between the segments are employed as ANC nerve exits and as channels for ANC vasculature. Cellular analysis establishes that adjoining septa issue nerves with distinct fiber trajectories, which across two segments (or three septa) fully innervate the arm musculature. Sucker nerves also use the septa, setting up a nerve fiber “suckerotopy” in the sucker-side of the ANC. Comparative anatomy suggests a strong link between segmentation and flexible sucker-laden arms. In the squidDoryteuthis pealeii, the arms and the sucker- rich club of the tentacles have segments, but the sucker-poor stalk of the tentacles does not. The neural modules described here provide a new template for understanding the motor control of octopus soft tissues. In addition, this finding represents the first demonstration of nervous system segmentation in a mollusc.

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An Underwater Biomimetic Robot that can Swim, Bipedal Walk and Grasp

Wu,

Pan,

et al. 2024

J Bionic Eng

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In developing and exploring extreme and harsh underwater environments, underwater robots can effectively replace humans to complete tasks. To meet the requirements of underwater flexible motion and comprehensive subsea operation, a novel octopus-inspired robot with eight soft limbs was designed and developed. This robot possesses the capabilities of underwater bipedal walking, multi-arm swimming, and grasping objects. To closely interact with the underwater seabed environment and minimize disturbance, the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking mode. The multi-arm swimming offers a means of three-dimensional spatial movement, allowing the robot to swiftly explore and navigate over large areas, thereby enhancing its flexibility. Furthermore, the robot’s walking arm enables it to grasp and transport objects underwater, thereby enhancing its practicality in underwater environments. A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion: swimming and walking, inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal walking. Through experimental verification, the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s, while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

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Lessons for Robotics From the Control Architecture of the Octopus

Cited by 6 publications

References 87 publications

Neuronal segmentation in cephalopod arms

Neuronal segmentation in cephalopod arms

Neuronal segmentation in cephalopod arms

An Underwater Biomimetic Robot that can Swim, Bipedal Walk and Grasp

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