Simulation of Octopus Arm Based on Coupled CPGs

Table 1

Octopus arm simulation parameters.

Parameter	Implication
	() is the number of segments constructing the arm
	Gravitational acceleration [m/s^2]
water_sw	Specific weight of the medium (seawater, in this case) [kg/m^3]
arm_sw	Specific weight of the octopus arm [kg/m^3]
passive_elasticity	Ratio between maximal and minimal spring constants
sim_time	Simulation time [s]
delta_	Time resolution for simulation [s]
act_interval	Interval between possible activation changes [s]
_act_types	Number of available activations
slow_base	Force proportional to base speed, resisting its rotation
Activation	Declaration of an activation followed by a serial number, base rotation moment, and activation values for each spring