Bio-Inspired Dynamic Model for a Reconfigurable Multiple Continuum Arm Robot

This paper proposes a dynamic model utilizing continuum arms to form a reconfigurable robotic system. The continuum arms are composed of serially-linked parallel mechanisms inspired by octopus arm anatomy. The kinematics and dynamics for a single continuum arm are formulated and then expanded to a multiple arm system using a modular modeling method. Simulation results show that this robotic system is capable of diverse locomotion patterns by changing the configuration of the arms.

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