Turning maneuvers of an octopus-inspired multi-arm robotic swimmer

Abstract

Inspired by the agile underwater maneuvering of the octopus, an eight-arm robotic swimmer was developed. Associated dynamical models are used here to design turning maneuvers, an important ability for underwater navigation. The performance of several turning gaits, based on sculling arm movements, of this robotic system was investigated in simulation, with respect to their various kinematic parameters. Experiments with a prototype robotic swimmer confirmed the computational results and verified the multi-arm maneuverability of such systems.