Soft buckling achieves consistent large-amplitude deformation for pulse jetting underwater robots
Soft buckling achieves consistent large-amplitude deformation for pulse jetting underwater robots
Jellyfish achieve efficient pulse jetting through large-amplitude, low-frequency deformations of a soft bell. This is made possible through large localised deformations at the bell margin. This paper develops a novel soft-robotic underwater pulse jetting method that harnesses the buckling of flexible tubes to generate thrust. Soft material instability is controlled through variation of internal water pressure in the tubes, where we demonstrate repeatable large-amplitude deformations with bell flexion angles of 29 ± 1.5° over a frequency range of 0.2-1.1 Hz. The actuator is used to propel a soft robotic platform through water, achieving instantaneous velocities of up to 5 cm s−1 with no noticeable degradation in performance over 1000 pressure cycles.
bioinspired swimming, jellyfish, lateral buckling, low frequency, pulse jetting, soft robotics
O'Loughlin, Alexander James
44059f79-05da-4ec8-a75d-ed34acc1595f
Simmons, Samuel
ba132e33-5022-4e27-a58e-20efce6ace7d
Kurt, Melike
15dea522-b5e5-4360-8b03-7a68e543c873
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
4 September 2025
O'Loughlin, Alexander James
44059f79-05da-4ec8-a75d-ed34acc1595f
Simmons, Samuel
ba132e33-5022-4e27-a58e-20efce6ace7d
Kurt, Melike
15dea522-b5e5-4360-8b03-7a68e543c873
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
O'Loughlin, Alexander James, Simmons, Samuel, Kurt, Melike and Thornton, Blair
(2025)
Soft buckling achieves consistent large-amplitude deformation for pulse jetting underwater robots.
Bioinspiration & Biomimetics, 20 (5), [056008].
(doi:10.1088/1748-3190/adfbb7).
Abstract
Jellyfish achieve efficient pulse jetting through large-amplitude, low-frequency deformations of a soft bell. This is made possible through large localised deformations at the bell margin. This paper develops a novel soft-robotic underwater pulse jetting method that harnesses the buckling of flexible tubes to generate thrust. Soft material instability is controlled through variation of internal water pressure in the tubes, where we demonstrate repeatable large-amplitude deformations with bell flexion angles of 29 ± 1.5° over a frequency range of 0.2-1.1 Hz. The actuator is used to propel a soft robotic platform through water, achieving instantaneous velocities of up to 5 cm s−1 with no noticeable degradation in performance over 1000 pressure cycles.
Text
O’Loughlin_2025_Bioinspir._Biomim._20_056008
- Version of Record
More information
Accepted/In Press date: 14 August 2025
Published date: 4 September 2025
Keywords:
bioinspired swimming, jellyfish, lateral buckling, low frequency, pulse jetting, soft robotics
Identifiers
Local EPrints ID: 505576
URI: http://eprints.soton.ac.uk/id/eprint/505576
ISSN: 1748-3182
PURE UUID: c10a50e6-a449-4323-8a2f-d14b4403a992
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Date deposited: 14 Oct 2025 16:41
Last modified: 15 Oct 2025 02:03
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Contributors
Author:
Alexander James O'Loughlin
Author:
Samuel Simmons
Author:
Melike Kurt
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