title: Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.
abstract: 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 its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.
authors.affiliation: The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, I-56025 Pontedera (Pisa), Italy.
authors.forename: M
authors.initials: M
authors.lastname: Cianchetti
authors.forename: M
authors.initials: M
authors.lastname: Calisti
authors.forename: L
authors.initials: L
authors.lastname: Margheri
authors.forename: M
authors.initials: M
authors.lastname: Kuba
authors.forename: C
authors.initials: C
authors.lastname: Laschi
mesh_terms: D000818:Animals; D003198:Computer Simulation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005121:Extremities / Q000502:physiology*; D018737:Hand Strength / Q000502:physiology*; D008954:Models, Biological; D049831:Octopodiformes / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation*; D012767:Ships / Q000295:instrumentation*; D013550:Swimming / Q000502:physiology*