抄録
The simulation model for the swimming movement of octopus was developed. This model was developed by extending SWUM (swimming human simulation model). In SWUM, a human body is represented by 21 body segments. However, it was not enough to realize the smooth arm motion of octopus. Therefore, in the octopus model, the number of body segments was increased to 90 (the body and 8 arms consisted of 10 body segments for each). Each joint had 3 degrees of freedom to realize various motions. This study aimed to clarify the motion and shape for fast swimming to develop an octopus-inspired robot for underwater rescue and exploration by using this octopus model. Three arm motions (sculling, undulation, and their composition) were analyzed. As a result, the average velocity in the last cycle of each motions were 0.08 lm/s in the sculling motion, 0.023m/s in the undulation motion and 0.106m/s in the composition motion. In future, we will investigate the fluid force coefficients to improve the precision of the model and investigate the arm motion suitable for the octopus-inspired robot.
