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Muscular hydrostats, such as octopus arms or elephant trunks, lack bonesentirely, endowing them with exceptional dexterity and reconfigurability. Keyto their unmatched ability to control nearly infinite degrees of freedom is thearchitecture into which muscle fibers are weaved. Their arrangement is,effectively, the instantiation of a sophisticated mechanical program thatmediates, and likely facilitates, the control and realization of complex,dynamic morphological reconfigurations. Here, by combining medical imaging,biomechanical data, live behavioral experiments and numerical simulations, wesynthesize a model octopus arm entailing ~200 continuous muscles groups, andbegin to unravel its complexity. We show how 3D arm motions can be understoodin terms of storage, transport, and conversion of topological quantities,effected by simple muscle activation templates. These, in turn, can be composedinto higher-level control strategies that, compounded by the arm's compliance,are demonstrated in a range of object manipulation tasks rendered additionallychallenging by the need to appropriately align suckers, to sense and grasp.Overall, our work exposes broad design and algorithmic principles pertinent tomuscular hydrostats, robotics, and dynamics, while significantly advancing ourability to model muscular structures from medical imaging, with potentialimplications for human health and care.

Topology, dynamics, and control of an octopus-analog muscular hydrostat