Octopus-Inspired Sensorimotor Control of a Multi-Arm Soft Robot

Li, Tao, Nakajima, Kohei, Calisti, Marcello , Laschi, Cecilia and Pfeifer, Rolf (2012) Octopus-Inspired Sensorimotor Control of a Multi-Arm Soft Robot. In: IEEE Mechatronics and Automation, 2012.

Full content URL: https://doi.org/10.1109/ICMA.2012.6283271

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


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.

Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46199
Deposited On:24 Aug 2021 14:50

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