Simulation of Octopus Arm Based on Coupled CPGs
Joint Authors
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-01
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features.
Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom.
The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control.
In this paper, three coupled central pattern generators (CPGs) are built and a 2-dimensional dynamic model of the octopus arm is presented to explore possible strategies of the octopus movement control.
And the CPGs’ signals treated as activation are added on the ventral, dorsal, and transversal sides, respectively.
The effects of the octopus arm are discussed when the parameters of the CPGs are changed.
Simulations show that the octopus arm movements are mainly determined by the shapes of three CPGs’ phase diagrams.
Therefore, some locomotion modes are supposed to be embedded in the neuromuscular system of the octopus arm.
And the octopus arm movements can be achieved by modulating the parameters of the CPGs.
The results are beneficial for researchers to understand the octopus movement further.
American Psychological Association (APA)
Tian, Juan& Lu, Qiang. 2015. Simulation of Octopus Arm Based on Coupled CPGs. Journal of Robotics،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070030
Modern Language Association (MLA)
Tian, Juan& Lu, Qiang. Simulation of Octopus Arm Based on Coupled CPGs. Journal of Robotics No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1070030
American Medical Association (AMA)
Tian, Juan& Lu, Qiang. Simulation of Octopus Arm Based on Coupled CPGs. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070030
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070030