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Published at December 4

Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat

cs.RO

Released Date: December 4, 2024

Authors: Yuchen Sun¹, Anup Teejo Mathew², Imran Afgan², Federico Renda², Cecilia Laschi¹

Aff.: ¹National University of Singapore; ²Khalifa University

Arxiv: http://arxiv.org/pdf/2412.03046v1

Refer to caption

Parameter	Value	Interpretation
$\rho_{0}$	$1e3$ $kg/m^{3}$	density of the soft body
$E$	2 $KPa$	Young’s modulus
$\nu^{0}$	0.4999	Poisson’s ratio
$\eta$	120 $Pa\cdot s$	shear viscosity
$\rho_{a}$	$1e3$ $kg/m^{3}$	density of the water
$B_{1}$ , $B_{2}$	0.6	added-mass coefficient
$C_{L}$	-0.1	lift coefficient
$C_{D}$	1.1	drag coefficient