@inproceedings{ad26d17c76a240269b53b24ffbc03e80,
title = "Controlling a CyberOctopus Soft Arm with Muscle-like Actuation",
abstract = "This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale dynamic simulation environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported.",
keywords = "Cosserat rod, Hamiltonian systems, energy-shaping control, octopus, soft robotics",
author = "Chang, {Heng Sheng} and Udit Halder and Ekaterina Gribkova and Arman Tekinalp and Noel Naughton and Mattia Gazzola and Mehta, {Prashant G.}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 60th IEEE Conference on Decision and Control, CDC 2021 ; Conference date: 13-12-2021 Through 17-12-2021",
year = "2021",
doi = "10.1109/CDC45484.2021.9683318",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1383--1390",
booktitle = "60th IEEE Conference on Decision and Control, CDC 2021",
address = "United States",
}