@article{Papadakis2024,

title = {An Octopus-Inspired Soft Pneumatic Robotic Arm},

author = {Emmanouil Papadakis and Dimitris P. Tsakiris and Michael Sfakiotakis},

url = {https://www.mdpi.com/2313-7673/9/12/773},

doi = {10.3390/biomimetics9120773},

issn = {2313-7673},

year  = {2024},

date = {2024-01-01},

urldate = {2024-01-01},

journal = {Biomimetics},

volume = {9},

issue = {12},

pages = {773},

publisher = {Multidisciplinary Digital Publishing Institute},

abstract = {This paper addresses the design, development, control, and experimental evaluation of a soft robot arm whose actuation is inspired by the muscular structure of the octopus arm, one of the most agile biological manipulators. The robot arm is made of soft silicone and thus possesses enhanced compliance, which is beneficial in a variety of applications where the arm may come into contact with delicate features of its environment. The arm is composed of three elongated segments arranged in series, each one of which contains several pneumatically actuated chambers embedded in its silicone body, which may induce various types of deformations of the segment. By combining the segment deformations, and by imitating the antagonistic muscle group functionality of the octopus, the robot arm can bend in various directions, increase or decrease its length, as well as twist around its central axis. This is one of the few octopus-inspired soft robotic arms where twisting is replicated in its motion characteristics, thus greatly expanding the arm’s potential applications. We present the design process and the development steps of the soft arm, where the molding of two-part silicone of low hardness in 3d-printed molds is employed. In addition, we present the control methodology and the experimental evaluation of both a standalone segment and the entire three-segment arm. This experimental evaluation involves model-free closed-loop control schemes, exploiting visual feedback from a pair of external cameras in order to reconstruct in real time the shape of the soft arm and the pose of its tip.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{doi:10.1080/00207179.2022.2134827,

title = {Invariant output feedback stabilisability: the scalar case},

author = {Aristotelis Yannakoudakis and Michael Sfakiotakis},

url = {https://doi.org/10.1080/00207179.2022.2134827},

doi = {10.1080/00207179.2022.2134827},

year  = {2023},

date = {2023-11-01},

journal = {International Journal of Control},

volume = {96},

issue = {12},

pages = {3168-3182},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {SoftER: A spiral soft robotic ejector for sorting applications},

author = {Ilias Zournatzis; Sotiris Kalaitzakis; Panagiotis Polygerinos,},

doi = {10.1109/LRA.2023.3315206},

year  = {2023},

date = {2023-09-13},

urldate = {2023-09-13},

journal = {IEEE Robotics and Automation Letters},

volume = {8},

issue = {11},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {A soft-bodied aerial robot for collision resilience and contact-reactive perching},

author = {Pham H. Nguyen; Karishma Patnaik; Shatadal Mishra; Panagiotis Polygerinos; Wenlong Zhang,},

url = {https://www.liebertpub.com/doi/10.1089/soro.2022.0010},

doi = {https://doi.org/10.1089/soro.2022.0010},

year  = {2023},

date = {2023-01-24},

urldate = {2023-01-24},

journal = {Soft Robotics},

volume = {10},

issue = {4},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Wang2022,

title = {An underwater glider with muscle-actuated buoyancy control and caudal-fin turning},

author = {Biao Wang; Yishan Chen; Yige Wu; Yi Lin; Sicong Liu; Sijie Peng; Shijian Wu; Xiaohan Liu; Juan Yi; Panagiotis Polygerinos; Zheng Wang,},

doi = {https://doi.org/10.3390/machines10050381},

issn = {2075-1702},

year  = {2022},

date = {2022-05-16},

urldate = {2022-05-16},

journal = {Machines},

volume = {10},

issue = {5},

pages = {381},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Yannakoudakis18,

title = {Static output feedback canonical forms},

author = {A. Yannakoudakis},

doi = {10.1093/imamci/dnx051},

issn = {0265-0754},

year  = {2018},

date = {2018-01-01},

journal = {IMA Journal of Mathematical Control and Information},

volume = {36},

number = {2},

pages = {537-567},

abstract = {We construct complete static output feedback (SOF) invariants and canonical forms of the set of strictly proper full rank, rational, transfer function matrices. We consider the induced action of the SOF group on the set of PlÃŒcker coordinates. Some of them are SOF-invariant and that some others vary linearly with the entries of the feedback gain. Further SOF-invariants are constructed based on the consistency conditions of linear systems of equations. The pair of the above two lists of invariants is complete. The proof is given, introducing a new type of factorization. We construct a SOF-canonical form. We apply the results to the class of systems with two inputs two outputs, characterizing the SOF-equivalence classes in the case of four states as to the property of SOF-pole assignability and calculating the constrained dynamics in the case of more than four states.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{sfakiotakis2015octopus,

title = {Octopus-inspired multi-arm robotic swimming},

author = {Michael Sfakiotakis and Asimina Kazakidi and Dimitris P. Tsakiris},

year  = {2015},

date = {2015-01-01},

urldate = {2015-01-01},

journal = {Bioinspiration & biomimetics},

volume = {10},

number = {3},

pages = {035005},

publisher = {IOP Publishing},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{sfakiotakis2015experimental,

title = {Experimental investigation and propulsion control for a bio-inspired robotic undulatory fin},

author = {Michael Sfakiotakis and John Fasoulas and Manolis M Kavoussanos and Manolis Arapis},

year  = {2015},

date = {2015-01-01},

urldate = {2015-01-01},

journal = {Robotica},

volume = {33},

number = {5},

pages = {1062--1084},

publisher = {Cambridge University Press},

keywords = {},

pubstate = {published},

tppubtype = {article}

}