A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm
نویسندگان
چکیده
منابع مشابه
A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm
The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constru...
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The octopus is a marine animal whose body has no rigid structures. It has eight arms composed of a peculiar muscular structure, named a muscular hydrostat. The octopus arms provide it with both locomotion and grasping capabilities, thanks to the fact that their stiffness can change over a wide range and can be controlled through combined contractions of the muscles. The muscular hydrostat can b...
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The octopus arm presents peculiar features, like the capability of bending in all directions, producing fast elongations, and varying its stiffness. Such features are very attractive from a robotics point of view. In the octopus, these unique motor capabilities are given by the peculiar muscular structure of the octopus arm, named muscular hydrostat, that creates a sort of antagonistic mechanis...
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We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimmin...
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ژورنال
عنوان ژورنال: Frontiers in Computational Neuroscience
سال: 2013
ISSN: 1662-5188
DOI: 10.3389/fncom.2013.00091