Modeling and Control of a Soft Robotic Fish with Integrated Soft Sensing

Soft robotics can be used not only as a means of achieving novel, more lifelike forms locomotion, but also tool to understand complex biomechanics through the use robotic model animals. Herein, control undulation mechanics an entirely soft subcarangiform fish is presented, using antagonistic fast-PneuNet actuators and hyperelastic eutectic gallium–indium (eGaIn) embedded in silicone channels for strain sensing. To design controller, simple, data-driven lumped parameter approach developed, which allows accurate lightweight simulation, tuned experimental data genetic algorithm. The accurately predicts robot's behavior over range driving frequencies pressure amplitudes, including effect co-contraction actuators. An amplitude controller prototyped deployed robot reach setpoint tail-beat fully real-time