Fig. 6: Grasping floating objects in an underwater open space.
From: Underwater soft arm grasping with simplified control using octopus-inspired bending propagation
A The robot’s end-effector approaches the target object with a bending propagation in 7.9 s. B After detecting attachment to the object, the robot stops moving, executes the grasping action, and pulls the target object back once successfully grasped. C Feedback signals from the flow sensor. Arrows and dashed lines represent the time when the object is successfully attached and grasped, respectively. More details about the floating objects grasping are available in Supplementary Movie S3.
