Emanuele Guglielmino - Academia.edu (original) (raw)

Papers by Emanuele Guglielmino

Research paper thumbnail of Semi-active ride control of full passenger vehicle and human response to vehicle vibration

Research paper thumbnail of Semi-active control of a heavy vehicle suspension to reduce road damage

Research paper thumbnail of Semi-active suspension with fuzzy controller optimized by genetic algorithm

A quarter-car model with variable dry friction damping is analyzed. The balance logic is used for... more A quarter-car model with variable dry friction damping is analyzed. The balance logic is used for the semi-active control of friction forces, practically realizable by modulation of the normal force applied on friction pads. A fuzzy controller is synthesized, the fuzzy model parameters being optimized by genetic algorithm (GA) method with respect to the performance index expressed in terms of ride comfort and suspension rattle space. The road profile is derived from a given spectral density, using also the GA to minimize the approximation error in frequency domain. It is shown that the proposed semi-active suspension control is very competitive in performances as compared with the conventional one, having besides antichattering properties, cost and simplicity advantages.

Research paper thumbnail of Modeling of a novel 3-way rotary type electro-hydraulic valve

The 2010 IEEE International Conference on Information and Automation, 2010

Hydraulic actuation is characterized by fast dynamics, high power density, high stiffness, large ... more Hydraulic actuation is characterized by fast dynamics, high power density, high stiffness, large output force/torque, and in recent years it has become an increasing attractive form of robot actuation. Hydraulic control valves that not only provide the interface between hydraulic power element and actuators, but also receive feedback signal and adjust the system output accordingly, are key components of hydraulic

Research paper thumbnail of HyQ - a dynamic locomotion research platform

Articulated robots such as legged robots hold the promise to lead to versatile, multi purpose mac... more Articulated robots such as legged robots hold the promise to lead to versatile, multi purpose machines that eventually become useful in many application scenarios such as construction sites, disaster recovery, service robotics and remote inspection. For these tasks a great deal of kinematic flexibility and dexterity is required. As the inspiring examples in biology show, arms and legs are useful both for manipulation and locomotion. Legs become very advantageous for highly dynamic locomotion in severely challenging terrain, i.e. terrain where wheeled and legged system of comparable size cannot go. This fact is easily appreciated by observing cats going about their daily lives, or mountain goats effortlessly bounding up steep rock faces. While this superior all-terrain agility is typically the motivation behind research in legged robots, actual results on robust and versatile all-terrain locomotion are not abundant.

Research paper thumbnail of Design of HyQ -A hydraulically and electrically actuated quadruped robot

A new versatile hydraulically powered quadruped robot (HyQ) has been developed to serve as a plat... more A new versatile hydraulically powered quadruped robot (HyQ) has been developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigation over very rough terrain. HyQ stands 1m tall, weighs roughly 90 kg, and features 12 torque-controlled joints powered by a combination of hydraulic and electric actuators. The hydraulic actuation permits the robot to perform powerful and dynamic motions that are hard to achieve with more traditional electrically actuated robots. This paper describes design and specifications of the robot and presents details on the hardware of the quadruped platform, such as the mechanical design of the four articulated legs and of the torso frame, and the configuration of the hydraulic power system. Results from the first walking experiments are presented, along with test studies using a previously built prototype leg. © Authors 2011.

Research paper thumbnail of A 3D dynamic model for continuum robots inspired by an octopus arm

2011 IEEE International Conference on Robotics and Automation, 2011

Continuum robotic arms are based on non-rigid components that result in a nearly infinite number ... more Continuum robotic arms are based on non-rigid components that result in a nearly infinite number of degrees of freedom (DOF). Due to this reason it can be very complex to establish mathematical models for continuum robotic arms. This paper presents a 3D dynamic model of an arm based on octopus anatomy that utilizes 4 longitudinal and 4 radial muscles. The

Research paper thumbnail of Modal kinematics for multisection continuum arms

Bioinspiration & Biomimetics, 2015

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode... more This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and nonlinear parametric variations with simple mathematical functions. Given certain constraints and required accuracy, this helps to simplify complex phenomena with numerically efficient implementations leading to fast computations. A successful application of the modal approximation techniques to develop a new modal kinematic model for general variable length multisection continuum arms is discussed. The proposed method solves the limitations associated with previous models and introduces a new approach for readily deriving exact, singularity-free and unique MSF's that simplifies the approach and avoids mode switching. The model is able to simulate spatial bending as well as straight arm motions (i.e., pure elongation/contraction), and introduces inverse position and orientation kinematics for multisection continuum arms. A kinematic decoupling feature, splitting position and orientation inverse kinematics is introduced. This type of decoupling has not been presented for these types of robotic arms before. The model also carefully accounts for physical constraints in the joint space to provide enhanced insight into practical mechanics and impose actuator mechanical limitations onto the kinematics thus generating fully realizable results. The proposed method is easily applicable to a broad spectrum of continuum arm designs.

Research paper thumbnail of Water vs. oil hydraulic actuation for a robot leg

2009 International Conference on Mechatronics and Automation, 2009

The significant competitive advantage of hydraulics (high power density, large output force/torqu... more The significant competitive advantage of hydraulics (high power density, large output force/torque and wide range of speeds) together with the properties of water (low compressibility, high thermal conductivity, low solubility of air, non-flammability and no environmental hazard) make ...

Research paper thumbnail of Leg mechanisms for hydraulically actuated robots

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

 Abstract— The performance of highly dynamic robotic machines is directly associated with both t... more  Abstract— The performance of highly dynamic robotic machines is directly associated with both the actuation means and the specific mechanical properties/configuration of the system. Hydraulic actuation demonstrates significant competitive advantages when minimum ...

Research paper thumbnail of A 3-way valve-controlled spring assisted rotary actuator

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Abstract— Hydraulic actuators are characterized by fast dynamics, high power density, high stiffn... more Abstract— Hydraulic actuators are characterized by fast dynamics, high power density, high stiffness, large output force/torque, and in recent years are becoming increasingly attractive in the field of robotics. This paper presents the study of a 3-way proportional valve ...

Research paper thumbnail of Power hydraulics - switched mode control of hydraulic actuation

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper is concerned with the application of switching technology to hydraulic actuation. Over... more This paper is concerned with the application of switching technology to hydraulic actuation. Over the last 50 years with advances in power electronics, faster and faster static switches have been developed and applied to the control of motors. Hydraulic technology evolved in the opposite direction: switching control was not considered, and more and more accurate proportional flow/pressure control devices (servovalves

Research paper thumbnail of Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper focuses on the design and experimental evaluation of a hydraulically actuated robot le... more This paper focuses on the design and experimental evaluation of a hydraulically actuated robot leg. The evaluation of the leg prototype is an important milestone in the development of HyQ, a Hydraulically actuated Quadruped robot. The prototype features two rotary joints actuated by hydraulic cylinders and has a mass of 4.5kg. We performed several experiments with the leg prototype attached

Research paper thumbnail of Control of a hydraulically-actuated quadruped robot leg

2010 IEEE International Conference on Robotics and Automation, 2010

Abstract— This paper is focussed on the modelling and control of a hydraulically-driven biologica... more Abstract— This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two ...

Research paper thumbnail of Fast and Adaptive Hopping Height Control of Single-Legged Robot

Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 2012

ABSTRACT Research on running robots has generally focussed on the steady-state. When the ground h... more ABSTRACT Research on running robots has generally focussed on the steady-state. When the ground has limited foot placement surfaces or there are sudden changes in height then steady-state running is not possible. It becomes necessary to make step-by-step adjustments to place the foot.In this paper a mass-spring-damper model of a robot’s leg is used to develop a hopping controller capable of meeting rapid changes in demand height or flight time. Analysis of the model provides a simple method to select control parameters for effective height control without tuning or iteration. Additionally, a simple adaptive algorithm is introduced and demonstrated in simulation. The adaptive control algorithm allows rapid changes of height even when ground characteristics change. Experimental validation is ongoing and some preliminary results are provided.

Research paper thumbnail of A Vibration Study of a Hydraulically-Actuated Legged Machine

Volume 8: Dynamic Systems and Control, Parts A and B, 2010

This paper presents a study on the impact of the vibration on a hydraulically-actuated legged rob... more This paper presents a study on the impact of the vibration on a hydraulically-actuated legged robot designed for outdoor operations. The choice of using hydraulic actuation in lieu of electric actuation as is common in robotics has been driven by the need to cope with heavy loads and respond swiftly to external inputs and disturbances. However in such machines hydraulically-induced vibration (fluid borne noise and structure borne noise) is a major issue. Volumetric pumpmotor assembly is a primary cause of vibration. These are transmitted to the robotic structure, which has been designed as light as possible to minimise the robot's total weight and power consumption and make it more agile. Initially a multi-body analysis of the robot was carried out to select an appropriate vibration isolation system. Subsequently a numerical and experimental modal analysis was carried out on the structure. This has allowed identifying the main modes of vibration of the structure. The pros and cons of this approach are described and areas of improvements identified.

Research paper thumbnail of Novel modal approach for kinematics of multisection continuum arms

International Conference on Intelligent RObots and Systems - IROS, 2011

This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (M... more This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (MSF) for multisection continuum arms. It solves the singularity problems associated with previous models and introduces a novel approach for intuitively deriving exact, singularity-free MSFs, thus avoiding mode switching schemes and simplifying error models. The model is able to simulate spatial bending, pure elongation/contraction, and

Research paper thumbnail of Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Page 1. o Abstract— The octopus arm is a unique tool that combines strength and flexibility. It c... more Page 1. o Abstract— The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. ...

Research paper thumbnail of An octopus anatomy-inspired robotic arm

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper focuses on the design of a robotic arm inspired to the anatomy and morphology of an oc... more This paper focuses on the design of a robotic arm inspired to the anatomy and morphology of an octopus arm. The octopus is a boneless animal and its amazing dexterity is due to its muscular structure where longitudinal (axial), transverse (radial) and oblique muscles seamlessly interact while preserving hydrostaticity i.e. volume conservation ("muscular hydrostat" [19]). Mimicking some features of the octopus is instrumental to design a dexterous and compliant system. After analysing the relevant anatomical and morphological characteristics of the octopus arm, the key biomechanical features of interest to the design of a robotic arm have been identified. A design methodology has been developed based on the analysis of the muscular hydrostat properties. A prototype arm has been built using bespoke contracting pneumatic muscles and expanding elements. In the current stage of development the system has 15 actuated degrees of motion (DOM) and 8 degrees of freedom (DOF), all independently controllable through valves and a dedicated electronics and software interface. Pros and cons of the current design as well as practical prototyping trade-offs are thoroughly described.

Research paper thumbnail of Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris

2012 IEEE International Conference on Robotics and Automation, 2012

Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are... more Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very interesting structures in nature. Mimicking this kind of structures artificially is challenging due to the high number of required DOF. This paper presents a kinematic and dynamic model for an underwater robotic manipulator inspired by Octopus vulgaris. Then, a prototype arm inspired by live octopus is presented and the model validated experimentally. Initial comparisons of simulated and experimental results show good agreement.

Research paper thumbnail of Semi-active ride control of full passenger vehicle and human response to vehicle vibration

Research paper thumbnail of Semi-active control of a heavy vehicle suspension to reduce road damage

Research paper thumbnail of Semi-active suspension with fuzzy controller optimized by genetic algorithm

A quarter-car model with variable dry friction damping is analyzed. The balance logic is used for... more A quarter-car model with variable dry friction damping is analyzed. The balance logic is used for the semi-active control of friction forces, practically realizable by modulation of the normal force applied on friction pads. A fuzzy controller is synthesized, the fuzzy model parameters being optimized by genetic algorithm (GA) method with respect to the performance index expressed in terms of ride comfort and suspension rattle space. The road profile is derived from a given spectral density, using also the GA to minimize the approximation error in frequency domain. It is shown that the proposed semi-active suspension control is very competitive in performances as compared with the conventional one, having besides antichattering properties, cost and simplicity advantages.

Research paper thumbnail of Modeling of a novel 3-way rotary type electro-hydraulic valve

The 2010 IEEE International Conference on Information and Automation, 2010

Hydraulic actuation is characterized by fast dynamics, high power density, high stiffness, large ... more Hydraulic actuation is characterized by fast dynamics, high power density, high stiffness, large output force/torque, and in recent years it has become an increasing attractive form of robot actuation. Hydraulic control valves that not only provide the interface between hydraulic power element and actuators, but also receive feedback signal and adjust the system output accordingly, are key components of hydraulic

Research paper thumbnail of HyQ - a dynamic locomotion research platform

Articulated robots such as legged robots hold the promise to lead to versatile, multi purpose mac... more Articulated robots such as legged robots hold the promise to lead to versatile, multi purpose machines that eventually become useful in many application scenarios such as construction sites, disaster recovery, service robotics and remote inspection. For these tasks a great deal of kinematic flexibility and dexterity is required. As the inspiring examples in biology show, arms and legs are useful both for manipulation and locomotion. Legs become very advantageous for highly dynamic locomotion in severely challenging terrain, i.e. terrain where wheeled and legged system of comparable size cannot go. This fact is easily appreciated by observing cats going about their daily lives, or mountain goats effortlessly bounding up steep rock faces. While this superior all-terrain agility is typically the motivation behind research in legged robots, actual results on robust and versatile all-terrain locomotion are not abundant.

Research paper thumbnail of Design of HyQ -A hydraulically and electrically actuated quadruped robot

A new versatile hydraulically powered quadruped robot (HyQ) has been developed to serve as a plat... more A new versatile hydraulically powered quadruped robot (HyQ) has been developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigation over very rough terrain. HyQ stands 1m tall, weighs roughly 90 kg, and features 12 torque-controlled joints powered by a combination of hydraulic and electric actuators. The hydraulic actuation permits the robot to perform powerful and dynamic motions that are hard to achieve with more traditional electrically actuated robots. This paper describes design and specifications of the robot and presents details on the hardware of the quadruped platform, such as the mechanical design of the four articulated legs and of the torso frame, and the configuration of the hydraulic power system. Results from the first walking experiments are presented, along with test studies using a previously built prototype leg. © Authors 2011.

Research paper thumbnail of A 3D dynamic model for continuum robots inspired by an octopus arm

2011 IEEE International Conference on Robotics and Automation, 2011

Continuum robotic arms are based on non-rigid components that result in a nearly infinite number ... more Continuum robotic arms are based on non-rigid components that result in a nearly infinite number of degrees of freedom (DOF). Due to this reason it can be very complex to establish mathematical models for continuum robotic arms. This paper presents a 3D dynamic model of an arm based on octopus anatomy that utilizes 4 longitudinal and 4 radial muscles. The

Research paper thumbnail of Modal kinematics for multisection continuum arms

Bioinspiration & Biomimetics, 2015

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode... more This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and nonlinear parametric variations with simple mathematical functions. Given certain constraints and required accuracy, this helps to simplify complex phenomena with numerically efficient implementations leading to fast computations. A successful application of the modal approximation techniques to develop a new modal kinematic model for general variable length multisection continuum arms is discussed. The proposed method solves the limitations associated with previous models and introduces a new approach for readily deriving exact, singularity-free and unique MSF's that simplifies the approach and avoids mode switching. The model is able to simulate spatial bending as well as straight arm motions (i.e., pure elongation/contraction), and introduces inverse position and orientation kinematics for multisection continuum arms. A kinematic decoupling feature, splitting position and orientation inverse kinematics is introduced. This type of decoupling has not been presented for these types of robotic arms before. The model also carefully accounts for physical constraints in the joint space to provide enhanced insight into practical mechanics and impose actuator mechanical limitations onto the kinematics thus generating fully realizable results. The proposed method is easily applicable to a broad spectrum of continuum arm designs.

Research paper thumbnail of Water vs. oil hydraulic actuation for a robot leg

2009 International Conference on Mechatronics and Automation, 2009

The significant competitive advantage of hydraulics (high power density, large output force/torqu... more The significant competitive advantage of hydraulics (high power density, large output force/torque and wide range of speeds) together with the properties of water (low compressibility, high thermal conductivity, low solubility of air, non-flammability and no environmental hazard) make ...

Research paper thumbnail of Leg mechanisms for hydraulically actuated robots

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

 Abstract— The performance of highly dynamic robotic machines is directly associated with both t... more  Abstract— The performance of highly dynamic robotic machines is directly associated with both the actuation means and the specific mechanical properties/configuration of the system. Hydraulic actuation demonstrates significant competitive advantages when minimum ...

Research paper thumbnail of A 3-way valve-controlled spring assisted rotary actuator

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Abstract— Hydraulic actuators are characterized by fast dynamics, high power density, high stiffn... more Abstract— Hydraulic actuators are characterized by fast dynamics, high power density, high stiffness, large output force/torque, and in recent years are becoming increasingly attractive in the field of robotics. This paper presents the study of a 3-way proportional valve ...

Research paper thumbnail of Power hydraulics - switched mode control of hydraulic actuation

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper is concerned with the application of switching technology to hydraulic actuation. Over... more This paper is concerned with the application of switching technology to hydraulic actuation. Over the last 50 years with advances in power electronics, faster and faster static switches have been developed and applied to the control of motors. Hydraulic technology evolved in the opposite direction: switching control was not considered, and more and more accurate proportional flow/pressure control devices (servovalves

Research paper thumbnail of Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper focuses on the design and experimental evaluation of a hydraulically actuated robot le... more This paper focuses on the design and experimental evaluation of a hydraulically actuated robot leg. The evaluation of the leg prototype is an important milestone in the development of HyQ, a Hydraulically actuated Quadruped robot. The prototype features two rotary joints actuated by hydraulic cylinders and has a mass of 4.5kg. We performed several experiments with the leg prototype attached

Research paper thumbnail of Control of a hydraulically-actuated quadruped robot leg

2010 IEEE International Conference on Robotics and Automation, 2010

Abstract— This paper is focussed on the modelling and control of a hydraulically-driven biologica... more Abstract— This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two ...

Research paper thumbnail of Fast and Adaptive Hopping Height Control of Single-Legged Robot

Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 2012

ABSTRACT Research on running robots has generally focussed on the steady-state. When the ground h... more ABSTRACT Research on running robots has generally focussed on the steady-state. When the ground has limited foot placement surfaces or there are sudden changes in height then steady-state running is not possible. It becomes necessary to make step-by-step adjustments to place the foot.In this paper a mass-spring-damper model of a robot’s leg is used to develop a hopping controller capable of meeting rapid changes in demand height or flight time. Analysis of the model provides a simple method to select control parameters for effective height control without tuning or iteration. Additionally, a simple adaptive algorithm is introduced and demonstrated in simulation. The adaptive control algorithm allows rapid changes of height even when ground characteristics change. Experimental validation is ongoing and some preliminary results are provided.

Research paper thumbnail of A Vibration Study of a Hydraulically-Actuated Legged Machine

Volume 8: Dynamic Systems and Control, Parts A and B, 2010

This paper presents a study on the impact of the vibration on a hydraulically-actuated legged rob... more This paper presents a study on the impact of the vibration on a hydraulically-actuated legged robot designed for outdoor operations. The choice of using hydraulic actuation in lieu of electric actuation as is common in robotics has been driven by the need to cope with heavy loads and respond swiftly to external inputs and disturbances. However in such machines hydraulically-induced vibration (fluid borne noise and structure borne noise) is a major issue. Volumetric pumpmotor assembly is a primary cause of vibration. These are transmitted to the robotic structure, which has been designed as light as possible to minimise the robot's total weight and power consumption and make it more agile. Initially a multi-body analysis of the robot was carried out to select an appropriate vibration isolation system. Subsequently a numerical and experimental modal analysis was carried out on the structure. This has allowed identifying the main modes of vibration of the structure. The pros and cons of this approach are described and areas of improvements identified.

Research paper thumbnail of Novel modal approach for kinematics of multisection continuum arms

International Conference on Intelligent RObots and Systems - IROS, 2011

This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (M... more This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (MSF) for multisection continuum arms. It solves the singularity problems associated with previous models and introduces a novel approach for intuitively deriving exact, singularity-free MSFs, thus avoiding mode switching schemes and simplifying error models. The model is able to simulate spatial bending, pure elongation/contraction, and

Research paper thumbnail of Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Page 1. o Abstract— The octopus arm is a unique tool that combines strength and flexibility. It c... more Page 1. o Abstract— The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. ...

Research paper thumbnail of An octopus anatomy-inspired robotic arm

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

This paper focuses on the design of a robotic arm inspired to the anatomy and morphology of an oc... more This paper focuses on the design of a robotic arm inspired to the anatomy and morphology of an octopus arm. The octopus is a boneless animal and its amazing dexterity is due to its muscular structure where longitudinal (axial), transverse (radial) and oblique muscles seamlessly interact while preserving hydrostaticity i.e. volume conservation ("muscular hydrostat" [19]). Mimicking some features of the octopus is instrumental to design a dexterous and compliant system. After analysing the relevant anatomical and morphological characteristics of the octopus arm, the key biomechanical features of interest to the design of a robotic arm have been identified. A design methodology has been developed based on the analysis of the muscular hydrostat properties. A prototype arm has been built using bespoke contracting pneumatic muscles and expanding elements. In the current stage of development the system has 15 actuated degrees of motion (DOM) and 8 degrees of freedom (DOF), all independently controllable through valves and a dedicated electronics and software interface. Pros and cons of the current design as well as practical prototyping trade-offs are thoroughly described.

Research paper thumbnail of Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris

2012 IEEE International Conference on Robotics and Automation, 2012

Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are... more Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very interesting structures in nature. Mimicking this kind of structures artificially is challenging due to the high number of required DOF. This paper presents a kinematic and dynamic model for an underwater robotic manipulator inspired by Octopus vulgaris. Then, a prototype arm inspired by live octopus is presented and the model validated experimentally. Initial comparisons of simulated and experimental results show good agreement.