Abstract

©2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. In this paper we present an octopus-inspired approach to the design and control of soft robots locomotion. We used the biological model as a reference to draw the conceptual design of our soft robots, and we showed how actuation strategy and mechanical design are properly coupled, in the animal as well in our robots, to simplify the control of locomotion. Finally, building upon our bioinspired solutions, we tried to exploit the water environment and the morphing soft body to increase behavioral diversity and locomotion stability of our soft vehicles.