Key result
Optimal control framework successfully generates trajectories minimizing control effort for a soft cyberoctopus arm.
Why the study?
To help uncover the mechanisms underlying stereotypical movement patterns and morphologies observed in octopus arms during manipulation tasks.
Demonstrates an optimal control-based framework for a soft CyberOctopus arm modeled as a Cosserat rod.
No immediate clinical impact; extends optimal control theory to Cosserat-modeled soft arms.
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a dynamic simulation environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with experimentally observed behaviors.
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Wang et al. (2021) studied this question. Optimal control methodology was evaluated. An optimal control-based framework using a Hamiltonian control system and Cosserat rod theory successfully generated trajectories minimizing control effort for a soft cyberoctopus arm.
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