Fig. 7: Grasping floating objects in different directions.
From: Underwater soft arm grasping with simplified control using octopus-inspired bending propagation
A Simulation results of the robot bending propagation toward an angle of 30° to the vertical, with the subpanel in the lower left showing the length-time curves of the dorsal and ventral actuators. B The robot approaches and attaches to the target object underwater by bending propagation. C The robot grasps the target object and pulls it back. D Simulation results of the robot bending propagation toward an angle of 120° to the vertical, with the subpanel in the lower left showing the length-time curves of the dorsal and ventral actuators. E The robot approaches and attached to the target object underwater by bending propagation. F The robot grasps the target object and pulls it back. More details about the floating objects grasping are available in Supplementary Movie S3.
