Octopus-inspired eight-arm robotic swimming by sculling movements

Sfakiotakis, Michael; Kazakidi, Asimina; Pateromichelakis, Nikolaos; Tsakiris, Dimitris P.

doi:10.1109/icra.2013.6631314

Cited by 42 publications

(43 citation statements)

References 14 publications

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“…Flexible swimming appendages can be exploited to harvest energy by continuously storing and releasing energy in the elastic oars and inducing changes in the surface area of the oars to increase thrust in the power stroke and reduce drag in the recovery stroke [110,114]. Finally, an elastic deformable body allows the storage and sudden release of energy, enabling fast starting that resembles the escape manoeuvres of some fish [112,113].…”

Section: Exploitation Of Deformable Components Formentioning

confidence: 99%

“…In [113], the C-shape bending was achieved using a body made entirely of fluidic elastomer actuators (FEAs), whereas in [112] the rubber body of the fish, supported by a spring steel backbone, was kept in the initial shape with a fishing line that was then cut by a pneumatic cutting mechanism. Finally, in [114] an octopus-inspired robot used eight silicone arms to perform sculling (oar-like) and undulation locomotion.…”

Section: Drag-powered Swimmingmentioning

confidence: 99%

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Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

234

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Exploitation Of Deformable Components Formentioning

confidence: 99%

Section: Drag-powered Swimmingmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

234

147

View full text Add to dashboard Cite

show abstract

“…Often, these devices take inspiration from biology, mimicking the elasticity of skin to improve the impedance matching of human-machine interfaces, or imitating the softness and flexibility of organisms like the octopus to adapt to unstructured environments and thereby create novel robotic functionalities. An artist's conception of the latter, inspired by current state-of-the-art efforts in soft octopus robotics 5,6 , is shown in Fig. 1a.…”

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confidence: 99%

Untethered soft robotics

2018

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Research in soft matter engineering has introduced new approaches in robotics and wearable devices that can interface with the human body and adapt to unpredictable environments. However, many promising applications are limited by the dependence of soft systems on electrical or pneumatic tethers. Recent work in soft actuation and electronics has made removing such cords more feasible, heralding a variety of applications from autonomous field robotics to wireless biomedical devices. Here we review the development of functional untethered soft robotics. We focus on recent advances in soft robotic actuation, sensing and integration as they relate to untethered systems, and consider the key challenges the field faces in engineering systems that could have practical use in real-world conditions.

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“…While squid may rely on fin-assisted swimming [2] and octopuses are observed to use arm sculling [3], here we will be dealing exclusively with the pulsed-jet mode of propulsion. During each pulsation cycle, the mantle inflates, ingesting ambient water, and then abruptly contracts, thus expelling a slug of water which, by reaction, generates the forward thrust [4].…”

Section: Introductionmentioning

confidence: 99%

“…• (e 1 ,e 2 ,e 3 • (e r ,e ϕ ,e 3 ) (X ,ϕ,t) ∈ ℝ • (a,b, − e ϕ ) (X ,ϕ,t) ∈ ℝ 3 × ℝ 3 × ℝ 3 Director orthogonal frame.…”

mentioning

confidence: 99%

Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots

Renda

Serchi

Boyer³

et al. 2015

International Journal of Advanced Robotic Systems

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This paper entails the study of the pulsed-jet propulsion inspired by cephalopods in the frame of underwater bioinspired robotics. This propulsion routine involves a sequence of consecutive cycles of inflation and collapse of an elastic bladder, which, in the robotics artefact developed by the authors, is enabled by a cable-driven actuation of a deformable shell composed of rubber-like materials. In the present work an all-comprehensive formulation is derived by resorting to a coupled approach that comprises of a model of the structural dynamics of the cephalopod-like elastic bladder and a model of the pulsed-jet thrust production. The bladder, or mantle, is modelled by means of geometrically exact, axisymmetric, nonlinear shell theory, which yields an accurate estimation of the forces involved in driving the deformation of the structure in water. By coupling these results with those from a standard thrust model, the behaviour of the vehicle propelling itself in water is derived. The constitutive laws of the shell are also exploited as control laws with the scope of replicating the muscle activation routine observed in cephalopods. The model is employed to test various shapes, material properties and actuation routines of the mantle. The results are compared in terms of speed performance in order to identify suitable design guidelines. Altogether, the model is tested in more than 50 configurations, eventually providing useful insight for the development of more advanced vehicles and bringing evidence of its reliability in studying the dynamics of both man-made cephalopodinspired robots and live specimens.Keywords Dynamics, Continuum Robots, Soft Robots, Biologically-Inspired Robots Nomenclature• 0 Variable in the reference configuration.• ⋅ Derivative with respect to time t.• ' Derivative with respect to X .• Converts ℝ 6 in se(3).• Converts ℝ 3 in so(3).• t ∈ ℝ Time. • X ∈ ℝ Reference arc-length parametrization.• ϕ ∈ S 1 Angle of revolution.• (e 1 ,e 2 ,e 3 ) ∈ ℝ 3 × ℝ 3 × ℝ 3 Ambient reference frame.• (e r ,e ϕ ,e 3 ) (X ,ϕ,t • (a,b, − e ϕ ) (X ,ϕ,t) Director orthogonal frame.• g(X ,ϕ,t) ∈ SE (3) Configuration matrix.• ξ(X ,t) ∈ se(3) Local deformation twist vector.• η(X ,t) ∈ se(3) Local velocity twist vector.• ] (X ,t) ∈ se(3) * Wrench vector.• R(X ,ϕ,t) ∈ SO(3) Orientation matrix.• r(X ,ϕ,t) ∈ ℝ 3 Position vector.• g(X ,t) ∈ ℝ 3 Linear strain.• k(X ,t) ∈ ℝ 3 Curvature vector.• v(X ,t) ∈ ℝ 3 Linear velocity.• w(X ,t) ∈ ℝ 3 Angular velocity vector.• c(X ,t) ∈ ℝ 3 Added mass load.• r(X ,t) ∈ ℝ 3 Radius.• z(X ,t) ∈ ℝ Altitude.• θ(X ,t) ∈ S 1 Fibre angle.• λ(X ,t) ∈ ℝ + Tangential strain.• β(X ,t) ∈ ℝ Thickness strain.• μ(X ,t) ∈ ℝ Curvature function.• v a (X ,t) ∈ ℝ Tangential velocity.• v b (X ,t) ∈ ℝ Perpendicular velocity.• w(X ,t) ∈ ℝ Angular velocity function.• N X (X ,t) ∈ ℝ Internal tangential force along a.• H (X ,t) ∈ ℝ Internal thickness force.• M X (X ,t) ∈ ℝ Internal torque along − e ϕ .• N ϕ (X ,t) ∈ ℝ Internal tangential force along − e ϕ .• M ϕ (X ,t) ∈ ℝ Internal torque along a.• f a (...

show abstract

Octopus-inspired eight-arm robotic swimming by sculling movements

Cited by 42 publications

References 14 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Untethered soft robotics

Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots

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