Untethered soft robotic jellyfish

Abstract

Inspired by natural creatures, soft robots possess the unique advantages of large actuation and excellent adaptability. Untethered designs of soft robots are drawing more attention to researchers, but current research is limited. Also, there is an increasing need to improve the performance of bio-mimetic robots. This work describes an untethered soft robotic jellyfish with high mobility that can mimic a natural jellyfish's performance. The electrode of the robotic jellyfish is made by sandwiching carbon grease between two layers of dielectric elastomer film. The frame of the material, where six plastic paddles are attached, is made from a silicone elastomer. The robotic jellyfish has a maximum recorded swim speed of up to 1 cm s -1 , with a peak thrust force of 0.000 12 N. A finite element simulation is developed to study the performance of the robotic jellyfish in a theoretical manner. By embedding a compact remote-controlled power source, the robotic jellyfish is made autonomous. In this case, the max peak speed is around 0.5 cm s -1 . Ultimately, the working principles of the bio-mimetic robotic jellyfish can be useful in field studies and to guide the design of soft robots and flexible devices.