Analysis and Simulation of Modeling for Transformable Robot Bio-inspired by Mimetic Octopus.

Mimetic octopus can imitate up to fifteen animal shape. By observing the morphological change video of mimetic octopus frame by frame, the law of octopus morphologic is drawn. We propose a Gaussian mixture model (GMM) to study the imitation behavior of octopus trajectory. By establishing and training the teaching sample data, the sample feature points are extracted and the teaching behavior characteristics are obtained. And then, set up the discrete modeling of mimetic octopus robot based on the assumption of piecewise constant curvature by setting a series of D-H parameters in Robotics Toolbox. The mimetic octopus robot is composed of eight flexible arms and a hemispherical cover. Finally, simulation of transformation of the robot is implemented by setting the D-H parameters of the initial state and the target state of the end position. It can not only imitate the shape of a star fish but also imitate that of a sea snake. And, the trajectory of the end position and the speed change of each joint are both smooth during the transform process.