BactoBot: A Low-Cost, Bacteria-Inspired Soft Underwater Robot for Marine Exploration
Abstract
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration. Inspired by the efficient flagellar propulsion of bacteria, BactoBot features 12 flexible, silicone-based arms arranged on a dodecahedral frame. Unlike high-cost research platforms, this prototype was fabricated using accessible DIY methods, including food-grade silicone molding, FDM 3D printing, and off-the-shelf DC motors. A novel multi-stage waterproofing protocol was developed to seal rotating shafts using a grease-filled chamber system, ensuring reliability at low cost. The robot was successfully tested in a controlled aquatic environment, demonstrating stable forward propulsion and turning maneuvers. With a total fabrication cost of approximately $355 USD, this project validates the feasibility of democratizing soft robotics for marine science in resource-constrained settings.
Keywords
Cite
@article{arxiv.2509.20964,
title = {BactoBot: A Low-Cost, Bacteria-Inspired Soft Underwater Robot for Marine Exploration},
author = {Rubaiyat Tasnim Chowdhury and Nayan Bala and Ronojoy Roy and Tarek Mahmud},
journal= {arXiv preprint arXiv:2509.20964},
year = {2025}
}
Comments
Revised version. Updated literature review, improved figures, and added clarification on waterproofing methodology