Dynamic modeling and control of an octopus inspired multiple continuum arm robot

摘要

This paper proposes a dynamic model for a multiple continuum arm robot inspired by live octopuses. The kinematics and dynamics for a single arm are analyzed and formulated including the longitudinal muscles, radial muscles, isovolumetric constraints, and interaction between suckers and an object. The single arm model is then expanded to a multiple arm system that is capable of generating archetypal locomotion patterns such as crawling and swimming. A hierarchical controller based on octopus neurophysiology is used to achieve simple and reliable control of the multiple continuum arm system. Simulations for single arm movements and multiple arm locomotions are presented. The results of this work can be used in the study of control schemes for multiple continuum arm robots and live octopuses.