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Abstract
In this work we describe an autonomous soft-bodied robot
that is both self-contained and capable of rapid, continuum-body motion. We
detail the design, modeling, fabrication, and control of the soft fish,
focusing on enabling the robot to perform rapid escape responses. The robot
employs a compliant body with embedded actuators emulating the slender
anatomical form of a fish. In addition, the robot has a novel fluidic actuation
system that drives body motion and has all the subsystems of a traditional
robot onboard: power, actuation, processing, and control. At the core of the
fish's soft body is an array of fluidic elastomer actuators. We design the fish
to emulate escape responses in addition to forward swimming because such
maneuvers require rapid body accelerations and continuum-body motion.