Tendon-Driven Robotic Jellyfish Achieves RL-Based Closed-Loop Depth Control
ChongZzZhang · x · 2026-09-26
Researchers from Hong Kong Embodied AI Lab, CUHK and HKUST present JellyRobot, a tendon-driven soft robotic jellyfish. Each actuator combines a flexible substrate with discrete constraints, bending up to 150° with near-linear tendon displacement. Eight actuators driven by four servos enable stable swimming, attitude adjustment, and self-righting, while an RL controller achieves closed-loop depth regulation in both simulation and real hardware via sim-to-real transfer without policy fine-tuning. Paper on arXiv, code coming soon.
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