Fig. 5: Evaluation of the grasping ability of the octopus-inspired soft continuum robot.
From: Underwater soft arm grasping with simplified control using octopus-inspired bending propagation
A The robot’s “approach-sense-grasp” strategy, where Pij represents the chamber pressure of the j-th actuator in the i-th segment. B–E The snapshots of the robot’s end-effector approaching, attaching, grasping, and pulling back a floating object, where the object is an 80mm-diameter cylinder. F The feedback signal from the flow sensor during the attaching, grasping, and release of the object, with arrows and dashed lines indicating the respective times. G Grasping results of the robot’s end-effector in the bending-suction collaborative grasping for objects of different sizes and shapes, showing a cylinder, rectangular prism, and hexagonal prism, with diameters ranging from 40 mm to 160 mm. More details about the grasping ability tests are available in Supplementary Movie S2.
