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Reverse Engineering the Octopus Arm- [electronic resource]
![Reverse Engineering the Octopus Arm - [electronic resource]](/Users/Baul/Images/book.png)
Reverse Engineering the Octopus Arm- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101235
- ISBN
- 9798379907051
- DDC
- 620.8
- 서명/저자
- Reverse Engineering the Octopus Arm - [electronic resource]
- 발행사항
- [S.l.]: : University of Washington., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(100 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-01, Section: B.
- 주기사항
- Advisor: Gire, David.
- 학위논문주기
- Thesis (Ph.D.)--University of Washington, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약Despite the extreme flexibility of the octopus's arms and their resulting near infinite possible configurations, the octopus effectively controls its arms for use in a wide range of behaviors, including locomotion, foraging, excavation, exploration, and manipulation. These behaviors also gain a number of advantages from this extreme mechanical flexibility. The octopus not only successfully controls limbs with infinite degrees of freedom, but prevalently exploits this biomechanical property to generate adaptive behavior. The octopus therefore serves as an ideal model for soft robotics. If appropriately characterized, the octopus's biomechanical properties and control strategies could be implemented in the development of a soft robotic limb with the same range of capabilities. Many of the octopus's behaviors, such as when foraging at night or in visually occluded spaces, are executed under conditions of limited or absent visual feedback. In such conditions, the octopus must rely primarily on the complex chemotactile system of its suckers to successfully find and capture prey. The investigations presented here aimed to characterize the search strategies used by the octopus in such conditions and identify the primary control mechanisms driving these strategies. Sucker recruitment was revealed to be a key mechanism employed during search, and one that can be adapted to perform systematic search patterns over complex surfaces. This mechanism also provides a number of other behavioral and computational advantages to the octopus, which are discussed, and was therefore implemented in the development of a soft robotic arm. Inspired by the repeated sucker units of the octopus arm, this robotic arm was created by designing the mechanical properties and control algorithm of a single segment, then simply replicating this segment and assembling the replicates end-to-end.
- 일반주제명
- Biomechanics.
- 일반주제명
- Robotics.
- 키워드
- Cephalopod
- 키워드
- Motor control
- 키워드
- Octopus
- 키워드
- Soft robotics
- 기타저자
- University of Washington Psychology
- 기본자료저록
- Dissertations Abstracts International. 85-01B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520240214101235
■006m o d
■007cr#unu||||||||
■020 ▼a9798379907051
■035 ▼a(MiAaPQ)AAI30527902
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a620.8
■1001 ▼aSivitilli, Dominic Michel.
■24510▼aReverse Engineering the Octopus Arm▼h[electronic resource]
■260 ▼a[S.l.]:▼bUniversity of Washington. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(100 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-01, Section: B.
■500 ▼aAdvisor: Gire, David.
■5021 ▼aThesis (Ph.D.)--University of Washington, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aDespite the extreme flexibility of the octopus's arms and their resulting near infinite possible configurations, the octopus effectively controls its arms for use in a wide range of behaviors, including locomotion, foraging, excavation, exploration, and manipulation. These behaviors also gain a number of advantages from this extreme mechanical flexibility. The octopus not only successfully controls limbs with infinite degrees of freedom, but prevalently exploits this biomechanical property to generate adaptive behavior. The octopus therefore serves as an ideal model for soft robotics. If appropriately characterized, the octopus's biomechanical properties and control strategies could be implemented in the development of a soft robotic limb with the same range of capabilities. Many of the octopus's behaviors, such as when foraging at night or in visually occluded spaces, are executed under conditions of limited or absent visual feedback. In such conditions, the octopus must rely primarily on the complex chemotactile system of its suckers to successfully find and capture prey. The investigations presented here aimed to characterize the search strategies used by the octopus in such conditions and identify the primary control mechanisms driving these strategies. Sucker recruitment was revealed to be a key mechanism employed during search, and one that can be adapted to perform systematic search patterns over complex surfaces. This mechanism also provides a number of other behavioral and computational advantages to the octopus, which are discussed, and was therefore implemented in the development of a soft robotic arm. Inspired by the repeated sucker units of the octopus arm, this robotic arm was created by designing the mechanical properties and control algorithm of a single segment, then simply replicating this segment and assembling the replicates end-to-end.
■590 ▼aSchool code: 0250.
■650 4▼aBiomechanics.
■650 4▼aRobotics.
■653 ▼aCephalopod
■653 ▼aMotor control
■653 ▼aOctopus
■653 ▼aSoft robotics
■690 ▼a0648
■690 ▼a0771
■71020▼aUniversity of Washington▼bPsychology.
■7730 ▼tDissertations Abstracts International▼g85-01B.
■773 ▼tDissertation Abstract International
■790 ▼a0250
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16933346▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
