Modeling the Neuromuscular Control System of an Octopus Arm
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866908528859414528 |
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| author | Wang, Tixian Halder, Udit Gribkova, Ekaterina Gazzola, Mattia Mehta, Prashant G. |
| author_facet | Wang, Tixian Halder, Udit Gribkova, Ekaterina Gazzola, Mattia Mehta, Prashant G. |
| contents | The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the PNS and integrate it with a muscular soft octopus arm. The proposed neuromuscular architecture is used to qualitatively reproduce several biophysical observations in real octopuses, including curled rest shapes and target-directed arm reaching motions. Two control laws are proposed for target-oriented arm motions, and their performance is compared against a benchmark. Several analytical results, including rest-state characterization and stability properties of the proposed control laws, are provided. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2211_06767 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Modeling the Neuromuscular Control System of an Octopus Arm Wang, Tixian Halder, Udit Gribkova, Ekaterina Gazzola, Mattia Mehta, Prashant G. Systems and Control Robotics Biological Physics The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the PNS and integrate it with a muscular soft octopus arm. The proposed neuromuscular architecture is used to qualitatively reproduce several biophysical observations in real octopuses, including curled rest shapes and target-directed arm reaching motions. Two control laws are proposed for target-oriented arm motions, and their performance is compared against a benchmark. Several analytical results, including rest-state characterization and stability properties of the proposed control laws, are provided. |
| title | Modeling the Neuromuscular Control System of an Octopus Arm |
| topic | Systems and Control Robotics Biological Physics |
| url | https://arxiv.org/abs/2211.06767 |