AIMC Topic: Extremities
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Principles of appendage design in robots and animals determining terradynamic performance on flowable ground.
Bioinspiration & biomimetics
Oct 8, 2015
Natural substrates like sand, soil, leaf litter and snow vary widely in penetration resistance. To search for principles of appendage design in robots and animals that permit high performance on such flowable ground, we developed a ground control tec...
Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.
Bioinspiration & biomimetics
Jul 30, 2015
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 ...
Towards highly-tuned mobility in multiple domains with a dynamical legged platform.
Bioinspiration & biomimetics
Jun 16, 2015
As mobile robots become more commonly utilized in everyday applications, the tasks they are given will often require them to quickly traverse unprepared and varied environments. While traditional mobile platforms may falter under such conditions, ani...
Measuring information transfer in a soft robotic arm.
Bioinspiration & biomimetics
May 13, 2015
Soft robots can exhibit diverse behaviors with simple types of actuation by partially outsourcing control to the morphological and material properties of their soft bodies, which is made possible by the tight coupling between control, body, and envir...
Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space.
Bioinspiration & biomimetics
May 13, 2015
This work addresses the inverse kinematics problem of a bioinspired octopus-like manipulator moving in three-dimensional space. The bioinspired manipulator has a conical soft structure that confers the ability of twirling around objects as a real oct...
Octopus-inspired multi-arm robotic swimming.
Bioinspiration & biomimetics
May 13, 2015
The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significa...
Octopus-like suction cups: from natural to artificial solutions.
Bioinspiration & biomimetics
May 13, 2015
Octopus suckers are able to attach to all nonporous surfaces and generate a very strong attachment force. The well-known attachment features of this animal result from the softness of the sucker tissues and the surface morphology of the portion of th...
Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.
Bioinspiration & biomimetics
May 13, 2015
The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated ...
Modal kinematics for multisection continuum arms.
Bioinspiration & biomimetics
May 13, 2015
This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and no...
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