2022/11/12 by Wang, Tixian, Halder, Udit, Gribkova, Ekaterina +2
#Biological Physics (physics.bio-ph) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Physical sciences #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2211.06767
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the PNS and integrate it with a muscular soft octopus arm. The proposed neuromuscular architecture is used to qualitatively reproduce several biophysical observations in real octopuses, including curled rest shapes and target-directed arm reaching motions. Two control laws are proposed for target-oriented arm motions, and their performance is compared against a benchmark. Several analytical results, including rest-state characterization and stability properties of the proposed control laws, are provided.