On the kinematics of the octopus's arm

Yaron Levinson, Reuven Segev

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


The kinematics of the octopus's arm is studied from the point of view of robotics. A continuum three-dimensional kinematic model of the arm, based on a nonlinear rod theory, is proposed. The model enables the calculation of the strains in various muscle fibers that are required in order to produce a given configuration of the arm-a solution to the inverse kinematics problem. The analysis of the forward kinematics problem shows that the strains in the muscle fibers at two distinct points belonging to a cross section of the arm determine the curvature and the twist of the arm at that cross section. The octopus's arm lacks a rigid skeleton and the role of material incompressibility in enabling the configuration control is studied.

Original languageEnglish
Pages (from-to)1-8
Number of pages8
JournalJournal of Mechanisms and Robotics
Issue number1
StatePublished - 1 Feb 2010

ASJC Scopus subject areas

  • Mechanical Engineering


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