Xiao-Tian Zhang

A Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning

Jellyfish-inspired robots offer a compliant and efficient approach to underwater locomotion, but achieving large deformation together with repeatable actuation and closed-loop control remains challenging. In this work, we present a tendon-driven robotic jellyfish with constrained soft actuation. Each actuator combines...