Before revision:  The overall control design methodology including muscle models is implemented and demonstrated in a  dynamic simulation environment . Results of several bio-inspired numerical experiments involving the control of octopus arms are reported.
After revision:  The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a dynamic simulation environment . Results of several bio-inspired numerical experiments involving the control of octopus arms are reported.