How does an octopus arm localize and reach a target? We provide a biophysical model of a soft octopus arm with neuromuscular control architecture and sensory system including chemosensing and proprioception. A novel  feedback neuro motor control law and a novel consensus algorithm for sensing are used to locate target and generate reaching motion.

Show me more

Inspired by several biology observations, we propose a novel sensory feedback control law for an octopus arm. The sensory information is assumed to be the bearing along the arm and the location of the closest point to the target.

Show me more

A control-oriented reduced order model is constructed based on a novel parametrization of the curvature of the octopus arm in order to study its bend propagation movement. The parametrization is motivated by the experimental results.

Show me more

In order to investigate the potential optimality behind some stereotypical octopus arm movements, we formulated a free endpoint optimal control problem to minimize an objective function by using the Maximum Principle for the Hamiltonian control system in the infinite-dimensional settings. 

Show me more