2015 Volume 4 Issue 1 Pages 49-55
The objective of this study was to investigate the swimming movement of an octopus-inspired propulsion mechanism. First, a simulation model for the mechanism was constructed. After a simulation based on observation data, the optimization of the arm stroke was carried out. In the simulation based on the observation data, successful propulsion was confirmed. If large stroke amplitudes were allowed in the optimization, the arm tips bent forward in the late recovery stroke. If large joint torques were allowed in the optimization, the arms were opened widely in the recovery stroke.