Bio-inspired Octopus-mimicking Soft Robotic Grasping System

Abstract

Octopus-inspired soft robots have emerged as a promising field of research, drawing inspiration from the remarkable dexterity and adaptability of this marine creature. Their ability to manipulate objects in complex environments, coupled with their soft, compliant bodies, offers significant advantages over traditional rigid robots. This paper provides a comprehensive overview of recent advancements in the design and development of octopus-inspired soft robots, focusing on shape control, grasping strategies, and potential applications. This paper presents a comprehensive review of recent advancements in biomimetic robotic design, focusing on octopus-inspired soft robots and soft grippers. This paper discusses various shape control algorithms and modeling methods for octopus-inspired soft manipulators, highlighting their applications in highly flexible and complex grasping tasks. The paper explores grasping planning strategies for soft grippers, such as force equilibrium and minimum grasping force control, to achieve precise grasping of diverse objects. Furthermore, this paper present various design schemes based on soft materials and actuation techniques, including tendon-driven and pneumatic actuation, each with its own structural and performance advantages. This paper provides theoretical support and practical guidance for the further development and optimization of octopus-inspired soft robots.