Soft Robotics Research:
I currently develop an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions. I extend the design of a fish-like soft body to deform under hydraulic power and design a closed-circuit drive system that uses water as a transmission fluid. Circulation of water through internal body channels provides control over the fish’s caudal fin propulsion.
We work on a new fabrication technique for this soft body that allows for arbitrary internal fluidic channels, enabling a wide-range of continuous body deformations. Dynamic diving capabilities are given through pectoral fins as dive planes.