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Control and Functionality of Octopus Arms and Suckers

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Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems

Abstract

Despite recent advances in the field of soft robotics, localized actuation, sensing, and control remain inadequately addressed. While soft robots offer advantages in adaptable configurations and deformation, they still lack precision, speed, and output force. The octopus is an exemplary model for the design of soft robots, offering solutions to such obstacles, with its powerful and agile arms and dexterous, highly precise suckers. Octopus arms are muscular hydrostats, achieving movements through the conservation of volume, yet the forces they can exert through their arms and suckers are impressive. The knowledge obtained about the sensing, actuation, and control mechanisms of octopus arms and suckers will greatly assist in implementing the distributed control of soft robot arms. This review highlights the key structure–function relationships of octopus arms and suckers, and how they have inspired the field of soft robotics.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ, USA

    Hosain Bagheri, Matthew M. Peet & Stephen C. Pratt

  2. School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA

    Spring Berman & Hamidreza Marvi

  3. The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA

    Daniel M. Aukes

  4. Department of Material Science and Engineering, University of California, Los Angeles, Los Angeles, CA, USA

    Ximin He

  5. School of Life Science, Arizona State University, Tempe, AZ, USA

    Rebecca E. Fisher

  6. Department of Basic Medical Sciences, University of Arizona College of Medicine—Phoenix, Phoenix, AZ, USA

    Rebecca E. Fisher

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  1. Hosain Bagheri
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  1. Department of Aerospace Engineering and Institute for Systems Research, University of Maryland, College Park, MD, USA

    Derek A. Paley

  2. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Norman M. Wereley

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Bagheri, H. et al. (2021). Control and Functionality of Octopus Arms and Suckers. In: Paley, D.A., Wereley, N.M. (eds) Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer, Cham. https://doi.org/10.1007/978-3-030-50476-2_10

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