Turning Maneuvers of an Octopus-inspired Multi-arm Robotic Swimmer

被引：0
|
作者：
Sfakiotakis, Michael [1 ]
Kazakidi, Asimina [1 ]
Tsakiris, Dimitris P. [1 ]
机构：
[1] Fdn Res & Technol Hellas FORTH, Inst Comp Sci, GR-70013 Iraklion, Greece
来源：
2013 21ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2013年
关键词：
Biologically-Inspired Robots; Underwater Propulsion; Gaits; Octopus; MODEL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1343 / 1349
页数：7
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