Research on bipedal locomotion of bionic octopus

In order to improving the ability of underwater robots to move on the seabed, biped robots have better adaptability to unstructured ground, the idea of robots adopting octopuses' bipedal locomotion was proposed. In the nature, bipedal locomotion is a good choose for octopus to move fast. In the analysis of robots' motion, the underwater spring loaded inverted pendulum (U-slip) model was used, and according to the rolling movement of walking arms the design of the stiffness decrease feature was added in the model. Comparing with the original U-slip model, it was shown that the stability of octopus bipedal motion was improved after considering this feature. And in the comparison of time to restore stability, it was shown the higher stiffness decrease coefficient made the movement more stable. Underwater robots adopt octopus bipedal locomotion can be better on uneven terrain.