Dynamic model of the octopus arm. I. Biomechanics of the octopus reaching movement.

@article{Yekutieli2005DynamicMO,
  title={Dynamic model of the octopus arm. I. Biomechanics of the octopus reaching movement.},
  author={Yoram Yekutieli and Roni Sagiv-Zohar and Ranit Aharonov and Yaakov Engel and Binyamin Hochner and Tamar Flash},
  journal={Journal of neurophysiology},
  year={2005},
  volume={94 2},
  pages={
          1443-58
        }
}
The octopus arm requires special motor control schemes because it consists almost entirely of muscles and lacks a rigid skeletal support. Here we present a 2D dynamic model of the octopus arm to explore possible strategies of movement control in this muscular hydrostat. The arm is modeled as a multisegment structure, each segment containing longitudinal and transverse muscles and maintaining a constant volume, a prominent feature of muscular hydrostats. The input to the model is the degree of… 
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197 Citations

Dynamic model of the octopus arm. II. Control of reaching movements.

The modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Kinematic decomposition and classification of octopus arm movements

A novel representation of octopus arm movements is described in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time.

Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions

A three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation, and a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group SE(3).

Modeling the Neuromuscular Control System of an Octopus Arm

A model for the PNS is built and the proposed neuromuscular architecture is used to qualitatively reproduce several biophysical observations in real octopuses, including curled rest shapes and target-directed arm reaching motions.

Hydrodynamic analysis of octopus-like robotic arms

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,…

Octopus-inspired multi-arm robotic swimming

This work investigates the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning, and a lumped-element model of the robotic swimmer was used.

Computing with a muscular-hydrostat system

This paper demonstrates that the muscular-hydrostat system itself has the computational capacity to achieve a complex nonlinear computation and systematically analyzes its computational power in terms of memory capacity, and shows that the system has an intrinsic and characteristic short term memory profile.

Motor control pathways in the nervous system of Octopus vulgaris arm

The organization of the connections between the brain and arms through the cerebrobrachial tracts is investigated and neuronal activity associated with the contraction of a small muscle strand left connected at the middle of a long isolated CBT suggests that axons associated with transmitting motor commands run along the CBT and innervate a large pool of motor neurons en passant.

Control-oriented Modeling of Bend Propagation in an Octopus Arm

A control-oriented reduced order model based upon a novel parametrization of the curvature of the octopus arm is presented and compared using numerical simulations to lead to useful qualitative insights into bend propagation.

Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements

The functional morphology of the internal tissues, including the sinusoidal arrangement of the nerve cord and the local insertion points of the longitudinal and transverse muscle fibres were investigated to create novel design principles and specifications that can be used in developing a new soft robotic arm.
...

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