Flexible manipulator inspired by octopus: development of soft arms using sponge and experiment for grasping various objects

摘要

In this study, we focus on the intelligent behavior of an octopus and describe the development of a flexible manipulator. To realize the intelligent behavior, we employ sponges, rubbers and wires instead of electrical computers. The manipulator is controlled by the dynamics of the body such as the flexibility of the sponges, resilience of the rubbers and constraint by the wires. To demonstrate the effectiveness of the proposed manipulator, we conducted experiment for grasping various objects. We confirmed that grasping behaviors similar to those of an octopus can be realized by the dynamics of the body without electrical computers.