Publication: A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation
Program
KU-Authors
KU Authors
Co-Authors
Wang, Tianlu
Joo, Hyeong-Joon
Song, Shanyuan
Hu, Wenqi
Keplinger, Christoph
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Abstract
Underwater devices are critical for environmental applications. However, existing prototypes typically use bulky, noisy actuators and limited configurations. Consequently, they struggle to ensure noise-free and gentle inter-actions with underwater species when realizing practical functions. Therefore, we developed a jellyfish-like robotic platform enabled by a synergy of electrohydraulic actuators and a hybrid structure of rigid and soft components. Our 16-cm-diameter noise-free prototype could control the fluid flow to propel while manipulat-ing objects to be kept beneath its body without physical contact, thereby enabling safer interactions. Its against -gravity speed was up to 6.1 cm/s, substantially quicker than other examples in literature, while only requiring a low input power of around 100 mW. Moreover, using the platform, we demonstrated contact-based object ma-nipulation, fluidic mixing, shape adaptation, steering, wireless swimming, and cooperation of two to three robots. This study introduces a versatile jellyfish-like robotic platform with a wide range of functions for diverse applications.
Source
Publisher
Amer Assoc Advancement Science
Subject
Multidisciplinary sciences
Citation
Has Part
Source
Science Advances
Book Series Title
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DOI
10.1126/sciadv.adg0292