Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot

Calisti, Marcello, Corucci, F, Arienti, A and Laschi, C (2015) Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot. Bioinspiration & Biomimetics, 10 (4). p. 46012. ISSN 1748-3190

Full content URL: https://doi.org/10.1088/1748-3190/10/4/046012

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Item Type:Article
Item Status:Live Archive

Abstract

This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.

Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46195
Deposited On:25 Aug 2021 12:14

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