Design of a biomimetic robotic octopus arm.

摘要: This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The arm shows peculiar features, such ability to bend in all directions, produce fast elongations, vary its stiffness. achieves these unique motor skills, thanks muscular structure, named hydrostat. Different muscles arranged on orthogonal planes generate antagonistic action each other hydrostat, which does not change volume during muscle contractions, allow bending elongation stiffness variation. By drawing inspiration from natural skills octopus, analysing geometry mechanics structure we propose robot consisting artificial hydrostat is completely soft compliant, but also able stiffen. In this paper, discuss criteria how special arrangement may bring building into being, showing results obtained mathematical models prototypical mock-ups.