Simulation of Octopus Arm Based on Coupled CPGs
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 int...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/529380 |
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| author | Juan Tian Qiang Lu |
| author_facet | Juan Tian Qiang Lu |
| author_sort | Juan Tian |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-80a3c0575b8b428592c44bf1104fab40 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-80a3c0575b8b428592c44bf1104fab402025-02-03T05:58:16ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/529380529380Simulation of Octopus Arm Based on Coupled CPGsJuan Tian0Qiang Lu1College of Information and Engineering, Taishan Medical University, Taian 271016, ChinaCollege of Information and Engineering, Taishan Medical University, Taian 271016, ChinaThe 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.http://dx.doi.org/10.1155/2015/529380 |
| spellingShingle | Juan Tian Qiang Lu Simulation of Octopus Arm Based on Coupled CPGs Journal of Robotics |
| title | Simulation of Octopus Arm Based on Coupled CPGs |
| title_full | Simulation of Octopus Arm Based on Coupled CPGs |
| title_fullStr | Simulation of Octopus Arm Based on Coupled CPGs |
| title_full_unstemmed | Simulation of Octopus Arm Based on Coupled CPGs |
| title_short | Simulation of Octopus Arm Based on Coupled CPGs |
| title_sort | simulation of octopus arm based on coupled cpgs |
| url | http://dx.doi.org/10.1155/2015/529380 |
| work_keys_str_mv | AT juantian simulationofoctopusarmbasedoncoupledcpgs AT qianglu simulationofoctopusarmbasedoncoupledcpgs |