ArticleFrontiers in robotics and AI2022
Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus.
Article in Frontiers in robotics and AI, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Design and Experimental Study of Octopus-Inspired Soft Underwater Robot with Integrated Walking and Swimming Modes.Biomimetics (Basel, Switzerland) · 2026Article
- A Survey on Reinforcement Learning Methods in Bionic Underwater Robots.Biomimetics (Basel, Switzerland) · 2023Article
- Design and control of soft biomimetic pangasius fish robot using fin ray effect and reinforcement learning.Scientific reports · 2022Article
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Authors and funding
7 authors.
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Abstract
The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus's tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus's tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.
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