Abstract
Jellyfish’s natural propulsion abilities with a soft body has often served as an inspiration for many soft robots due to their size and efficiency, with many robots being based on the ephyra larva stage of a jellyfish. However, most previous jellyfish-inspired robots were constructed of costly actuation systems, as well as being based on the ephyra larva stage rather than an adult jellyfish. To address these issues, a jellyfish-like soft robot was made with 4 cable-driven actuators which were attached to a dome-shaped soft material, mimicking that of the jellyfish. A mechanism using a servo powered the cable-driven actuators, allowing the dome-shaped cavity to contract its bell uniformly. When actuated, the mechanism expels a jet of fluids from the bell, leading to a positive thrust. The result was empirically measured by collecting video data on the robot's performance underwater.
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