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  4. Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination
 
conference paper

Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination

Kim, Sareum  
•
Hughes, Josie  
April 22, 2025
2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)
2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)

In nature, aquatic animals leverage the interaction between their soft bodies and surrounding fluid to achieve efficient locomotion; for animals with multiple limbs, this requires careful coordination among the limbs. The octopus, with its tentacles and flexible webbing, exemplifies this and serves as a compelling model for underwater robotics. Many octopus-inspired soft robots have shown locomotion capability with great maneuvrability and adaptability, however, there has been limited study of the effect of arm coupling and coordination. This paper introduces quadropus, a four-arm swimming robot with independent tentacle control where the fluid interactions are coupled through a compliant webbing, designed to enhance swimming capability. Through varied web designs and control input patterns, we examine the impact of web structure on swimming performance and demonstrate the importance of coordinated arm motion.

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Type
conference paper
DOI
10.1109/robosoft63089.2025.11020935
Author(s)
Kim, Sareum  

École Polytechnique Fédérale de Lausanne

Hughes, Josie  

EPFL

Date Issued

2025-04-22

Publisher

IEEE

Published in
2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)
Start page

1

End page

6

Subjects

Couplings

•

Fluids

•

Aquatic robots

•

Animals

•

Web design

•

Robot kinematics

•

Soft robotics

•

Arms

•

Manipulators

•

Sports

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
CREATE-LAB  
Event nameEvent acronymEvent placeEvent date
2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)

Lausanne, Switzerland

2025-04-22 - 2025-04-26

Available on Infoscience
June 6, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/251104
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