title: Design considerations for an underwater soft-robot inspired from marine invertebrates.
abstract: This article serves as an overview of the unique challenges and opportunities made possible by a soft, jellyfish inspired, underwater robot. We include a description of internal pressure modeling as it relates to propulsive performance, leading to a desired energy-minimizing volume flux program. Strategies for determining optimal actuator placement derived from biological body motions are presented. In addition a feedback mechanism inspired by the epidermal line sensory system of cephalopods is presented, whereby internal pressure distribution can be used to determine pertinent deformation parameters.
authors.affiliation: Department of Mechanical and Aerospace Engineering, University of Florida, USA. Institute for Networked Autonomous Systems, University of Florida, USA.
authors.forename: Michael
authors.initials: M
authors.lastname: Krieg
authors.forename: Isaac
authors.initials: I
authors.lastname: Sledge
authors.forename: Kamran
authors.initials: K
authors.lastname: Mohseni
mesh_terms: D000818:Animals; D032701:Biomimetics / Q000295:instrumentation*; D003198:Computer Simulation; D017076:Computer-Aided Design; D055119:Elastic Modulus; D004867:Equipment Design; D019544:Equipment Failure Analysis; D008954:Models, Biological; D012371:Robotics / Q000295:instrumentation*; D037401:Scyphozoa / Q000502:physiology*; D012679:Sense Organs / Q000502:physiology; D012767:Ships / Q000295:instrumentation*; D013550:Swimming / Q000502:physiology*