Cuttlebot: a platform demonstration for complex, autonomous, bio-inspired swimmers

2026-05-29

AI Summary

This study addresses the critical need for autonomous robotic platforms in deep-sea operations that are both ecologically benign and resilient to harsh environments, a challenge exacerbated by the limited integrability of existing dielectric elastomer artificial muscles into complex systems. To overcome this, the authors present the CORE embedded control platform, enabling the first fully autonomous, multi-degree-of-freedom biomimetic swimming robot—Cuttlebot—powered entirely by dielectric elastomer actuators. Integrating visual and spatial perception, the system drives six-channel artificial muscles to generate three-dimensional locomotion through undulatory fin motions inspired by cuttlefish, while also incorporating a soft tentacle gripper. Experimental results demonstrate that Cuttlebot achieves translational speeds of 2.5 cm/s and rotational speeds of 10°/s under tethered and untethered conditions, respectively, confirming its capability for precise force and torque control and validating the overall system feasibility.

Abstract

Increasing interest in deep-sea operations and resources motivates the development of ecologically sensitive but environmentally durable robots. Dielectric elastomer actuator artificial muscles are good candidates for powering such systems due to their pressure and temperature tolerance and soft makeup, but they are difficult to integrate with robotic systems. This work presents an autonomous robotic platform: the CORE, capable of driving six artificial muscles while sensing visual and spatial information. To validate the platform, we developed the Cuttlebot - a cuttlefish-inspired robot that swims in three dimensions using undulatory fin locomotion. The Cuttlebot has four primary artificial muscles in its fins in addition to a tentacle-inspired soft gripper. The robot was evaluated in a series of tethered and untethered swimming tests, demonstrating a top speed of 2.5 centimeters per second translation and 10 degrees per second rotation. Furthermore, the CORE system was capable of driving specialized control signals into the artificial muscles to controllably output force and torque in six axes. This work provides a platform for developing complex, bio-inspired swimming robots for ocean exploration and monitoring, laying the foundation with our leading example: the Cuttlebot.

Problem

• bio-inspired robots
• dielectric elastomer actuators
• autonomous underwater systems
• soft robotics
• deep-sea exploration

Innovation

• dielectric elastomer actuators
• bio-inspired robotics
• autonomous underwater vehicle
• soft robotics
• undulatory fin locomotion