Octopus-inspired eight-arm robotic swimming by sculling movements

  title={Octopus-inspired eight-arm robotic swimming by sculling movements},
  author={Michael Sfakiotakis and Asimina Kazakidi and Nikolaos Pateromichelakis and Dimitris P. Tsakiris},
  journal={2013 IEEE International Conference on Robotics and Automation},
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 accurately evaluated by CFD methods, was used to study the effects of various kinematic parameters on propulsion. Experiments inside a water tank… CONTINUE READING
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