Abstract
This article presents the results of a multidisciplinary project where mechatronic engineers worked alongside biologists to develop a soft robotic arm that captures key features of octopus anatomy and neurophysiology. The concept of embodiment (the dynamic coupling between sensory-motor control, anatomy, materials and environment that allows for the animal to achieve adaptive behaviours) is used as a starting point for the design process but tempered by current engineering technologies and approaches. In this article, the embodied design requirements are first discussed from a robotic viewpoint by taking into account real-life engineering limitations; then, the motor control schemes inspired by octopus nervous system are investigated. Finally, the mechanical and control design of a prototype is presented that appropriately blends bio-inspiration and engineering limitations. Simulated and experimental results show that the developed continuum robotic arm is able to reproduce octopus-like motions for bending, reaching and grasping.
Highlights
Traditional robots typically employ rigid joints and links to form their body structures and operate using individual feedback for each actuated joint
The amazing motion abilities of octopuses have inspired robotic designers to endow robots with a new form of intelligence, the embodied intelligence, that allows for diverse motion patterns generated by the close cooperation of mechanical structures, control systems and environments
A kinematic and dynamic model for soft robotic arms with muscular-hydrostat properties was presented to investigate the dynamic interactions between the controller, body morphology and external environments
Summary
Traditional robots typically employ rigid joints and links to form their body structures and operate using individual feedback for each actuated joint. Numerous works have been carried out to improve the robustness and adapting ability of robotic sensorymotor systems from the classic control point of view.[1,2,3] More recently, roboticists have been looking at nature to gain inspiration and insights into the development of a new generation of robots through the application of engineering principles and design concepts based on the observation of nature These systems are turning to the sensory-motor characteristics of animals or even plants and channelling them towards the design of bio-inspired robots.[4,5] To gain a competitive design edge from nature observation, the main
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