Manoeuvring of an aquatic soft robot using thrust-vectoring

Tao Wang, Artur Lidtke, Francesco Giorgio-Serchi, Gabriel D. Weymouth

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Capability of a pulsed-jetting, aquatic soft robot
to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35 degrees.
Original languageEnglish
Title of host publication2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)
PublisherIEEE Xplore
Number of pages6
ISBN (Electronic)978-1-5386-9260-8, 978-1-5386-9259-2
ISBN (Print)978-1-5386-9261-5
Publication statusPublished - 27 May 2019
Event2019 IEEE International Conference on Soft Robotics - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019
Conference number: 2

Publication series

NameIEEE International Conference on Soft Robotics (RoboSoft)


Conference2019 IEEE International Conference on Soft Robotics
Abbreviated titleRoboSoft 2019
Country/TerritoryKorea, Republic of
Internet address


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