Soft Robot Arm Inspired by the Octopus

@article{Laschi2012SoftRA,
  title={Soft Robot Arm Inspired by the Octopus},
  author={Cecilia Laschi and Matteo Cianchetti and Barbara Mazzolai and Laura Margheri and Maurizio Follador and Paolo Dario},
  journal={Advanced Robotics},
  year={2012},
  volume={26},
  pages={709 - 727}
}
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 better be seen as a modifiable skeleton. Furthermore, the morphology the arms and the mechanical… Expand
Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements.
TLDR
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. Expand
Development of the functional unit of a completely soft octopus-like robotic arm
In the presented paper the realization of an artificial functional unit of muscular hydrostat inspired by the octopus is shown. The octopus has been chosen because it shows high manipulationExpand
Soft-robotic arm inspired by the octopus: II. From artificial requirements to innovative technological solutions.
TLDR
Results represent useful and relevant components of innovative soft-robotic systems and suggest their potential use to create a new generation of highly dexterous, soft-bodied robots. Expand
A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm
TLDR
It is demonstrated that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non- linear limit cycles. Expand
Computing with a muscular-hydrostat system
TLDR
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. Expand
Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.
TLDR
The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. Expand
A Soft Master-Slave Robot Mimicking Octopus Arm Structure Using Thin Artificial Muscles and Wire Encoders
TLDR
The design and feedback control of a soft master-slave robot system configured with two soft rubber machines that is the soft robot arm mimicking the muscle arrangement of the octopus arm by pneumatic artificial muscles is described. Expand
The octopus as paradigm for soft robotics
  • M. Cianchetti
  • Engineering, Computer Science
  • 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
  • 2013
TLDR
The octopus does not have a large brain, yet it can control this huge amount of possible movements and motion parameters, leading to release the basic assumption of rigid parts in robotics and to the development of new enabling technologies for a new generation of soft robots for marine and surgical robotics. Expand
Bio-inspired Design of an Artificial Muscular-Hydrostat Unit for Soft Robotic Systems
TLDR
The key features “extracted” from the octopus arm have been "translated" into engineering specifications, and the identified requirements have been used to design an artificial muscular hydrostat unit, obtaining an actuating component with controllable stiffness capabilities and various applications for a novel generation of soft-bodied robots. Expand
Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.
TLDR
Study of underwater legged locomotion by means of a robotic octopus-inspired prototype and its associated model finds that the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. Expand
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 26 REFERENCES
Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements.
TLDR
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. Expand
Design of a biomimetic robotic octopus arm.
TLDR
The design of a robot arm is proposed consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen, by showing the results obtained by mathematical models and prototypical mock-ups. Expand
Design concept and validation of a robotic arm inspired by the octopus
Abstract The octopus is an invertebrate sea animal, considered as an interesting model of inspiration in robotics, due to its high dexterity, variable stiffness, and very complex behaviours, ifExpand
Continuum robot arms inspired by cephalopods
In this paper, we describe our recent results in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by the dexterousExpand
Study and fabrication of bioinspired Octopus arm mockups tested on a multipurpose platform
  • M. Calisti, A. Arienti, +6 authors P. Dario
  • Engineering
  • 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 2010
This paper illustrates a robotic approach to the study of the Octopus vulgaris arm. On the base of the embodied intelligence theory, a study on the interaction among materials, mechanisms andExpand
The arrangement and function of octopus arm musculature and connective tissue
TLDR
Analysis of arm morphology from the standpoint of biomechanics suggests that the transverse musculature is responsible for elongation of the arms, the longitudinal musculatures are responsible for shortening, and the oblique muscle layers and associated connective tissues create torsion. Expand
Non-invasive study of Octopus vulgaris arm morphology using ultrasound
SUMMARY Octopus arms are extremely dexterous structures. The special arrangements of the muscle fibers and nerve cord allow a rich variety of complex and fine movements under neural control.Expand
Tongues, tentacles and trunks: the biomechanics of movement in muscular‐hydrostats
TLDR
The means by which muscular-hydrostats produce elongation, shortening, bending and torsion are discussed. Expand
Self-Organization, Embodiment, and Biologically Inspired Robotics
Robotics researchers increasingly agree that ideas from biology and self-organization can strongly benefit the design of autonomous robots. Biological organisms have evolved to perform and survive inExpand
How the body shapes the way we think - a new view on intelligence
TLDR
In How the Body Shapes the Way The authors Think, Rolf Pfeifer and Josh Bongard demonstrate that thought is not independent of the body but is tightly constrained, and at the same time enabled, by it. Expand
...
1
2
3
...