Building a better Doc Ock Tentacle
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- Опубліковано 30 кві 2023
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We’ve all seen Doctor Otto Octavius or Doc Ock, in the Spiderman comics and movies. Dock Ock has four tentacles and four of his own limbs, so that makes nine in total, and that’s the same as an octopus.
Lots of cosplayers have made Dock Ock cosplays, including Adam Savage, although mostly those tentacles are in fixed positions or supported with strings. So this time I’m going to try a different approach, using six actuators in each segment of the tentacle.
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Ah yes 4+4=9
What I think is especially fun about this, is that the tentacles from the movies also have a triangular cross section and seeing how this moves, this might actually be the way to go about it
For the second prototype feel like a smaller version of each segment to reduce the strain on the base might make it look even more like a real tentacle arm.
can we appreciate how impressive real tentacles from octopus and squid and such are. To have the degree of flexibilty while still retaining strength is ceaselessly amazing
Further showing that Dr. Octavious' fusion demonstration really glossed over the robotics miracle of his tentacles. Great video, really can't wait for the next version!
That's really cool!!
Implementing inverse kinematics for the end effector plate would be a very interesting follow-up!!!
Look into using flexures rather than pivots. It should be lighter, and the springiness will give a lot of inherent structural integrity. I've had good results combining PETG with spring-steel inserts and elastic.
Doc Ock quite often uses his lower tentacles for stability, so that might help with the weight issue. Also, I would say it's already a work of art, even sans LEDs.
Amount of servos this guy uses in his projects is mad. Respect ++
6:44
Really great video! And thank you for mentioning my work!
Could you change the kinematic model such that each segment starts moving a bit before the one below? I think that might give it a slightly more organic feel, like it's curling into each movement rather than leaning.
I am really surprised how organic this looks, especially with some segments inverted. But there are so many more ways to move such a system. Probably a reason why octopuses have such a large brain. This would also be an interesting movement problems for machine learning to improve in a simulation.
This is one of the coolest projects you've done in quite some time! Love it! Keep it up
I'm always impressed by the scale of the projects you put out. It would take me months to design and build what you do in a week.
No other channel gets be as excited for an upload as James!
For the macro positioning, you could use a parametric spline function. As you know the length of each section, you can easily calculate the 3d slope at a given point along the curve, which will give you the normal for the platform that you can feed into the inverse kinematic function.
Amazing work, James! I always love the complexity of movement you manage to get out of simple servo movements & a bit of maths.
This is the beginning of something amazing. I hope other UA-camr do this too so the collaboration can push the idea further.