A Soft Robotic Jellyfish with Decoupled Actuators for Agile 3D Locomotion

초록

Jellyfish-inspired soft robots have attracted significant attention for their alternating contraction-recoil dynamics and efficient solid-fluid interactions. However, existing designs often suffer from mechanical coupling between locomotion modes, where a single propulsion action simultaneously induces steering and depth changes, making independent control of each mode difficult. In this work, we present a novel soft robotic jellyfish with a functionally decoupled actuation system that separates propulsion, steering, and buoyancy control into independent modules. The propulsion module utilizes pneumatic tentacles with passive valves to generate net thrust via differential drag. A dedicated lateral water-jet system enables agile near zero-radius rotation independent of forward speed. Furthermore, a variable buoyancy module allows for active vertical navigation without continuous power consumption. Experimental characterization demonstrates a maximum swimming speed of (Formula presented.) and a rapid turning rate of (Formula presented.). This decoupled architecture significantly enhances the agility of soft underwater robots, providing a robust platform for complex exploration tasks. © 2026 The Author(s). Advanced Intelligent Systems published by Wiley-VCH GmbH.

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