Title :
Turning maneuvers of an octopus-inspired multi-arm robotic swimmer
Author :
Sfakiotakis, Michael ; Kazakidi, Asimina ; Tsakiris, Dimitris P.
Author_Institution :
Inst. of Comput. Sci., Found. for Res. & Technol. - Hellas (FORTH), Heraklion, Greece
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.
Keywords :
manipulator dynamics; manipulator kinematics; marine systems; agile underwater maneuvering; associated dynamical model; eight-arm robotic swimmer; kinematic parameters; multiarm maneuverability; octopus-inspired multiarm robotic swimmer; sculling arm movements; turning gaits; turning maneuver designing; underwater navigation; Computational modeling; Manipulators; Prototypes; Simulation; Trajectory; Turning; Biologically-Inspired Robots; Gaits; Octopus; Underwater Propulsion;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608894