OctoBot
Octopus-inspired compliant-body aquatic robot
Octopus-inspired compliant-body aquatic robot
This work was supported in part by the European Commission and by the Hellenic Ministry of Education via the folowing projects:
Funding agencies: European Social Fund (ESF) – General Secretariat for Research and Technology (GSRT) of the Ministry of Education [Project MIS-448301 (2013SE01380036)]
Full Title: "Biomimetic Legged Robots Operating in Rough Environments"
Funding agencies: National Strategic Reference Framework (NSRF) - General Secretariat for Research and Technology (GSRT) of the Ministry of Education THALES program (Mis: 379424)
Objectives: Although legged robots have the potential to outperform wheeled machines in rough environments, they are subject to complex motion planing and control challenges and to balance-in-motion constraints. The aim of this research program is the integration of such capabilities into autonomous and dependable legged robotic systems through the development of novel designs and control methods, with emphasis on efficient locomotion. To reach our goals, our teams working with humans, animals, legged robots, crawlers and humanoids will cooperate employing an interdisciplinary approach. The expected results include: (a) an autonomous quadruped robot with multi-jointed legs and articulated body that can achieve fast and stable gaits through uneven terrains, (b) a multi-legged robot with flexible elements capable of robust locomotion through uneven terrains with its body in full ground contact, (c) the development of control algorithms for humanoids employing upper and lower limb coordination for stable gaits through uneven terrains, (d) a comprehensive study of the control and stability methods of humans and animals during locomotion through uneven terrains.
Full Title: "Hydrodynamic investigation of aquatic locomotion with respect to elongated, biologically-inspired robotic devices"
Funding agencies: European Social Fund (ESF) - General Secretariat for Research and Technology (GSRT) of the Ministry of Education [Project PE7(281)]
Objectives: The project concerns a hydrodynamic analysis of aquatic locomotion, focusing on the predominant modes of lateral undulation (or anguilliform swimming) and arm swimming, to complement the design of biologically-inspired robotic devices. The main hypothesis supported is that various forms of aquatic locomotion produce vortex formations that can be exploited by marine animals and, hence, possibly by robotic analogues aiming to move in aquatic environments or emulate biological movements. Within the appropriate physiological scales and fluid properties, we utilize computational fluid dynamic techniques on time-varying geometries, performing prescribed motions that reflect biological aquatic locomotion. Within the finite-volume and immersed boundary methods framework, we investigate implementations for medium or extreme deformations, ensuring stability and accuracy of transient motion results. This study attempts to contribute towards novel robot-design methodologies in relation to system morphology and associated control strategies. This multidisciplinary perspective will help elucidate the hydrodynamics underlying aquatic locomotion and contribute to the development of challenging robotic devices.
Full Title: "Novel Design Principles and Technologies for a New Generation of High Dexterity Soft-bodied Robots Inspired by the Morphology and Behaviour of the Octopus"
Funding agencies: European Union FP7 ICT Future & Emerging Technology (FET) program (Grant agreement no. ICT-231608)
Objectives: OCTOPUS aims at investigating and understanding the principles that give rise to the octopus sensory-motor capabilities and at incorporating them in new design approaches and technologies for building physically embodied, soft-bodied, hyper-redundant, dextrous artefacts. To this purpose, a robotic artefact will be built in OCTOPUS that can locomote in water over a variety of terrains, explore narrow spaces, grasp objects and manipulate them effectively. The grand challenge that this IP will pursue is the design and development of the ICT and robotics technologies allowing the building of an embodied artefact, based broadly on the anatomy of an octopus, and with similar performance in water, in terms of dexterity, speed, control, flexibility, and applicability.
Octopus 8-arm robotic swimmer