Heading Control of Biohybrid Robotic Jellyfish

Biohybrid robotic jellyfish achieve forward motion by electrically stimulating the swim muscles of a live jellyfish. These robots combine the benefits of traditional autonomous underwater vehicles and jellyfish to offer a cost-effective and efficient solution for marine exploration. However, practical applications of these biohybrid robots remain limited by a lack of directional control. Adding a turning mechanism to the hydrodynamic forebody could enable controlled navigation and expand the functionality of biohybrid robotic jellyfish. This work focused on two turning strategies: (1) a passive control system that relies on an unstably balanced mass to amplify asymmetrical thrust generated by the electrical stimulation of the jellyfish; and (2) an active control system that shifts the robot's center of mass using a motorized mechanism. Both approaches offer distinct benefits. The passive system uses muscle stimulation of the jellyfish for heading control for more energy-efficient motion, and the active system allows for more precise heading control. Ultimately, both offer advantages that could be useful depending on the specific application of the biohybrid robotic jellyfish. Together, these mechanisms represent two solutions for enabling directional control in biohybrid jellyfish, expanding their utility across diverse marine monitoring and environmental sensing applications.