2026-09-20T00:01:37Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/127317 2026-02-03 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Learning-based control of a cyberoctopus Shih, Chia-Hsien 2024-09-04 Gazzola, Mattia Gazzola, Mattia Mehta, Prashant Krishnan, Girish Chowdhary, Girish Learning-based Control Octopus-inspired Robotics Hierarchical Decompositioin Motion Primitives Soft Robot Manipulation Soft Robot Locomotion Multi-arm Coordination eng Inspired by the remarkable capabilities of octopuses, my work focuses on designing control strategies for a simulated soft-bodied octopus-like robot, the CyberOctopus. The continuous deformation and intricate mechanics of soft arms pose challenges in developing dynamic control models, especially when engaging with moving objects or coordinating multiple arms. Additionally, existing studies on soft arm manipulation have primarily focused on end-effectors, leaving whole-arm manipulation largely unexplored. To address these challenges, my research employs a hierarchical framework with static and dynamic activation strategies, leveraging the inherent mechanical intelligence of the arms to facilitate whole-arm interactions with other arms, obstacles, and moving objects in the environment. The CyberOctopus demonstrates refined manipulation and locomotion tasks in real-time, with potential applications in underwater exploration, search and rescue operations, and manufacturing processes. 2024-12 Thesis https://hdl.handle.net/2142/127317 Copyright 2024 Chia-Hsien Shih application/pdf en text Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-12-01 The student, Chia-Hsien Shih, accepted the attached license on 2024-08-30 at 21:13. The student, Chia-Hsien Shih, submitted this Dissertation for approval on 2024-08-30 at 21:14. This Dissertation was approved for publication on 2024-09-04 at 11:20. DSpace SAF Submission Ingestion Package generated from Vireo submission #21209 on 2025-03-28 at 14:42:34 Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Ph.D. Dissertation