{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/127317"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/127317","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Learning-based control of a cyberoctopus","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Shih, Chia-Hsien"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Gazzola, Mattia","Mehta, Prashant","Krishnan, Girish","Chowdhary, Girish"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2024,"date_issued":"2024-09-04","date_published":"2024-09-04","updated_at":"2026-07-22T22:25:03Z","subjects":["Learning-based Control","Octopus-inspired Robotics","Hierarchical Decompositioin","Motion Primitives","Soft Robot Manipulation","Soft Robot Locomotion","Multi-arm Coordination"],"languages":["eng","en"],"rights":["Copyright 2024 Chia-Hsien Shih"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/127317","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Gazzola, Mattia","Mehta, Prashant","Krishnan, Girish","Chowdhary, Girish"]},{"key":"dc:creator","label":"Author","values":["Shih, Chia-Hsien"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2024-09-04","2024-12"]},{"key":"dc:type","label":"Dc Type","values":["Thesis","text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Learning-based Control","Octopus-inspired Robotics","Hierarchical Decompositioin","Motion Primitives","Soft Robot Manipulation","Soft Robot Locomotion","Multi-arm Coordination"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng","en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2024 Chia-Hsien Shih"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/127317"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["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.","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"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Learning-based control of a cyberoctopus"]}]}],"canonical_facts":{"dc:contributor":["Gazzola, Mattia","Mehta, Prashant","Krishnan, Girish","Chowdhary, Girish"],"dc:creator":["Shih, Chia-Hsien"],"dc:date":["2024-09-04","2024-12"],"dc:description":["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.","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"],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/127317"],"dc:language":["eng","en"],"dc:rights":["Copyright 2024 Chia-Hsien Shih"],"dc:subject":["Learning-based Control","Octopus-inspired Robotics","Hierarchical Decompositioin","Motion Primitives","Soft Robot Manipulation","Soft Robot Locomotion","Multi-arm Coordination"],"dc:title":["Learning-based control of a cyberoctopus"],"dc:type":["Thesis","text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:03Z"}