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Contribution Details
| Type | Other Publication |
| Scope | Discipline-based scholarship |
| Title | A Biologically Inspired Approach to the Control of Octopus-like Soft Robot Arms |
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| Language |
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| How Published | Journal supplement |
| Date | 2009 |
| Abstract Text | Recent developments in robotics clearly suggest that the issue of robot control is not solely determined by its internal controlling system but rather accompanied by the coupling between the control system and its body. This demonstrates the importance of the body's morphology and also the importance of its material properties. In this session, we report our recent attempt on the control of octopus-like soft robot arms. Octopus arms lack any form of rigid skeleton and their motor capabilities are far beyond any existing robot, because of their dexterity and the variability of their stiffness. Hence, it would require the implementation of arms' material property into the strategy of control to lessen the complexity of the system. We used the silicon based soft robot arm with 4 embedded nylon cables along the arm which is arranged equally in the circular direction to mimic the 4 groups of longitudinal muscle bundles in the octopus arm. By regulating the tension of the strings, we show some elementary behaviors of this system, such as exploration. Finally, we will discuss the future directions to achieve the various characteristic behaviors of octopus arms. |
| Official URL | http://www.springerlink.com/content/0895-8696/39/s1/ |
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