Fig. 1: Octopus-inspired bending propagation model.
From: Underwater soft arm grasping with simplified control using octopus-inspired bending propagation
A Bending propagation motion of the octopus captured by a high-speed camera. B Parameter definition of the octopus-inspired bending propagation model. C Time-varying curve of the ventral actuator length in the bending wave propagation model. D Time-varying curve of the dorsal actuator length. E, Simulation results of the bending propagation model, with numbers representing the segment number. Actuators that are not driven in the simulation are shown in blue, and fully actuated actuators are displayed in red. F Variation of curvature along the arm over bending propagation time. G Variation of arm total length with parameter A. H Variation of end-effector pitch angle with parameter Δt. I Variation of bending propagation time with parameter ε. J Variation of maximum curvature along the arm with parameter A, curves in different colors represent different values of Δt. K Variation of maximum amplitude A without self-contact under different value of Δt, the pink area represents the rational amplitude range.
