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The octopus uses the arm-swimming behavior primarily for escape, defense, or foraging. This mode of locomotion is comprised of two strokes, with the arms opening slowly and closing rapidly, and generally results in considerable propulsive acceleration. In light of the recent development by our group of an octopus-like eight-arm underwater robot, we are(More)
Mice are widely used to investigate atherogenesis, which is known to be influenced by stresses related to blood flow. However, numerical characterization of the haemodynamic environment in the commonly studied aortic arch has hitherto been based on idealizations of inflow into the aorta. Our purpose in this work was to numerically characterize the(More)
Atherosclerotic lesions are non-uniformly distributed at arterial bends and branch sites, suggesting an important role for haemodynamic factors, particularly wall shear stress (WSS), in their development. The pattern of lesions at aortic branch sites depends on age and species. Using computational flow simulations in an idealized model of an intercostal(More)
The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. Each segment is a parallel robotic mechanism with redundant actuation. The kinematics and dynamics of this manipulator are(More)
The multi-arm morphology of octopus-inspired robotic systems may allow their aquatic propulsion, in addition to providing manipulation functionalities, and enable the development of flexible robotic tools for underwater applications. In the present paper, we consider the multi-arm swimming behavior of the octopus, which is different than their, more usual,(More)
We consider robotic analogues of the arms of the octopus, a cephalopod exhibiting a wide variety of dexterous movements and complex shapes, moving in an aquatic environment. Although an invertebrate, the octopus can vary the stiffness of its long arms and generate large forces, while also performing rapid motions within its aquatic environment. Previous(More)
Inspired by the octopus arm morphology and exploiting recordings of swimming octopus, we investigate the propulsive capabilities of an 8-arm robotic system under various swimming gaits, including arm sculling and arm undulations, for the generation of forward propulsion. A dynamical model of the robotic system, that considers fluid drag contributions(More)
An implicit nonlinear finite element model for simulating biological muscle mechanics is developed. The numerical method is suitable for dynamic simulations of three-dimensional, nonlinear, nearly incompressible, hyperelastic materials that undergo large deformations. These features characterise biological muscles, which consist of fibres and connective(More)
This work addresses open-loop control strategies for continuum robotic manipulators inspired by the octopus arm, which are based on solving numerically a detailed elasto-dynamic model. Octopus arms are muscular hydrostats, capable of performing a variety of dexterous movements, which can be of particular interest to the design of relevant robotic(More)
The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as(More)