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Octopus-inspired sensorimotor control of a ulti-arm soft robot


Li, Tao; Nakajima, Kohei; Calisti, Marcello; Laschi, Cecilia; Pfeifer, Rolf (2012). Octopus-inspired sensorimotor control of a ulti-arm soft robot. In: 2012 International Conference on Mechatronics and Automation (ICMA), Chengdu, Sichuan, China, 5 August 2012 - 8 August 2012, 948-955.

Abstract

Soft robots have significant advantages over traditional rigid robots because of their morphological flexibility. However, the use of conventional engineering approaches to control soft robots is difficult, especially to achieve autonomous behaviors. With its completely soft body, the octopus has a rich behavioral repertoire, so it is frequently used as a model in building and controlling soft robots. However, the sensorimotor control strategies in some interesting behaviors of the octopus, such as octopus crawling, remain largely unknown. In this study, we review related biological studies on octopus crawling behavior and propose its sensorimotor control strategy. The proposed strategy is implemented with an echo state network on an octopus-inspired, multi-arm crawling robot. We also demonstrate the control strategy in the robot for autonomous direction and speed control. Finally, the implications of this study are discussed.

Abstract

Soft robots have significant advantages over traditional rigid robots because of their morphological flexibility. However, the use of conventional engineering approaches to control soft robots is difficult, especially to achieve autonomous behaviors. With its completely soft body, the octopus has a rich behavioral repertoire, so it is frequently used as a model in building and controlling soft robots. However, the sensorimotor control strategies in some interesting behaviors of the octopus, such as octopus crawling, remain largely unknown. In this study, we review related biological studies on octopus crawling behavior and propose its sensorimotor control strategy. The proposed strategy is implemented with an echo state network on an octopus-inspired, multi-arm crawling robot. We also demonstrate the control strategy in the robot for autonomous direction and speed control. Finally, the implications of this study are discussed.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:8 August 2012
Deposited On:17 Jan 2013 13:26
Last Modified:05 Apr 2016 16:17
Publisher:IEEE
ISBN:978-1-4673-1275-2
Related URLs:http://2012.ieee-icma.org/Home/Home.aspx
Other Identification Number:merlin-id:7786

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