Hydraulic Autonomous Soft Robotic Fish for 3D Swimming

@inproceedings{Katzschmann2014HydraulicAS,
  title={Hydraulic Autonomous Soft Robotic Fish for 3D Swimming},
  author={Robert K. Katzschmann and Andrew D. Marchese and Daniela Rus},
  booktitle={ISER},
  year={2014}
}
This work presents an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions. The design of a fish-like soft body has been extended to deform under hydraulic instead of pneumatic power. Moreover, a new closed-circuit drive system that uses water as a transmission fluid is used to actuate the soft body. Circulation of water through internal body channels provides control over the fish’s caudal fin propulsion and yaw motion. A new… 
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