ICRA 2011 Paper Abstract


Paper WeP107.2

Zheng, Tianjiang (Italian Institute of Technology), Branson, David (Istituto Italiano di Tecnologia (IIT)), Guglielmino, Emanuele (Italian Institute of Technology), Caldwell, Darwin G. (Italian Institute of Technology)

A 3D Dynamic Model for Continuum Robots Inspired by Octopus Arm

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots VI" (WeP107), Wednesday, May 11, 2011, 13:55−14:10, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Flexible Arms, Biologically-Inspired Robots, Marine Robotics


Continuum robotic arms are based on non-rigid components that result in a nearly infinite number of degrees of freedom (DOF). Due to this reason, it can be very complex to establish mathematical models for continuum robotic arms. This paper presents a 3D dynamic model of an arm based on octopus arm anatomy that utilizes 4 longitudinal and 4 radial muscles. The arm is composed of a multi-segment structure having distributed stiffness and damping to represent the muscles. The simulations are applied to a multi-segment arm, and results mimic several typical octopus arm motions.



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