This paper presents the design and experimental validation of a bio-inspired soft aquatic robot, the DilBot, which uses a bistable shape memory alloy-driven engine for pulse-jet locomotion. Drawing inspiration from the efficient swimming mechanisms of box jellyfish, the DilBot incorporates antagonistic shape memory alloy springs encapsulated in silicone insulation to achieve high-power propulsion. The innovative bistable mechanism allows continuous swimming cycles by storing and releasing energy in a controlled manner. Through free-swimming experiments and force characterization tests, we evaluated the DilBot's performance, achieving a peak speed of 158 mm/s and generating a maximum thrust of 5.59 N. This work demonstrates a novel approach to enhancing the efficiency of shape memory alloy actuators in aquatic environments. It presents a promising pathway for future applications in underwater environmental monitoring using robotic swarms.
@article{arxiv.2504.03988,
title = {Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots},
author = {Graziella Bedenik and Antonio Morales and Supun Pieris and Barbara da Silva and John W. Kurelek and Melissa Greeff and Matthew Robertson},
journal= {arXiv preprint arXiv:2504.03988},
year = {2025}
}
Comments
8 pages, 8 figures, to be published in 8th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2025)