Modelling and bending control of flexible arm based on bionic octopus

Octopus arm has dexterous grasping capabilities due to their muscular hydrostatic skeletal structure, but too many degrees of freedom and soft tissue cause numerous difficulties to bionic octopus's arm in modelling and controlling. The Cosserat theory is used to establish the space coordinate system of the particle for tendon-driven flexible manipulator, analysis of cable force and establishing an accurate cable-driven bionic octopus arm geometry model, and solve the kinematics and kinetic equation. According to the location of four cables and the equivalent force, the tension distribution of the expected bending of each cable is designed, and then accuracy of the method is verified by MATLAB. Finally, the bending control of complete arm is realized by this method. The modelling method is general and suitable for other types of wire-driven flexible arms.