Biomimetic design based on inspiration from nature for solutions for engineering problems
has been practiced throughout human history. Invertebrate animals without a skeletal struc-ture have
exible, robust and agile movements. For example, the octopus arm which is able
to grip objects by exerting large forces, moves with a wide range of velocities, and manip-ulates delicate objects, without any rigid skeletal elements. Two key applications of such
biomimetic systems are compliant and lightweight robotic arms for tightly constrained spaces
and energy-e cient muscle actuators for biomimetic locomotion.
Inspired by octopus arm, in this thesis we investiagte di erent design concepts and require-ments for using dielectric electroactive polymers (EAP) for designing of
exible actuators
and manipulators. A model-guided approach to design a bio-inspired
exible actuator mod-ule is presented analyzed. Further, mathematical modelling for Central Pattern Generators
(CPGs) is presented. The condition for phase synchronization of coupled single chain oscil-lators is derived and various techniques for pattern generation using oscillator network are
studied. Finally, octopus based control using Central Pattern Generators (CPGs) is brie
y
discussed
