Design and attitude control of a novel robotic jellyfish capable of 3D motion

This is a preview of subscription content, access via your institution.


  1. 1

    Wu Z X, Yu J Z, Su Z S, et al. Towards an Esox lucius inspired multimodal robotic fish. Sci China Inf Sci, 2015, 58: 052203

    Google Scholar 

  2. 2

    Liu J C, Wu Z X, Yu J Z, et al. Sliding mode fuzzy control-based path-following control for a dolphin robot. Sci China Inf Sci, 2018, 61: 024201

    MathSciNet  Article  Google Scholar 

  3. 3

    Gemmell B J, Costello J H, Colin S P, et al. Passive energy recapture in jellyfish contributes to propulsive advantage over other metazoans. Proc Natl Acad Sci USA, 2013, 110: 17904–17909

    Article  Google Scholar 

  4. 4

    Villanueva A, Smith C, Priya S. A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators. Bioinspir Biomim, 2011, 6: 036004

    Article  Google Scholar 

  5. 5

    Yeom S W, Oh I K. A biomimetic jellyfish robot based on ionic polymer metal composite actuators. Smart Mater Struct, 2009, 18: 085002

    Article  Google Scholar 

  6. 6

    Godaba H, Li J S, Wang Y Z, et al. A soft jellyfish robot driven by a dielectric elastomer actuator. IEEE Robot Autom Lett, 2016, 1: 624–631

    Article  Google Scholar 

  7. 7

    Sutton R S, Barto A G. Reinforcement Learning: An Introduction. Cambridge: MIT Press, 1998

    MATH  Google Scholar 

  8. 8

    Chen C L, Dong D Y, Li H X, et al. Hybrid MDP based integrated hierarchical Q-learning. Sci China Inf Sci, 2011, 54: 2279–2294

    MathSciNet  Article  MATH  Google Scholar 

  9. 9

    Cui R X, Yang C G, Li Y, et al. Adaptive neural network control of AUVs with control input nonlinearities using reinforcement learning. IEEE Trans Syst Man Cybern Syst, 2017, 47: 1019–1029

    Article  Google Scholar 

Download references


This work was supported by National Natural Science Foundation of China (Grant Nos. 61725305, 61633020, 61633017, 61573226) and Key Project of Frontier Science Research of Chinese Academy of Sciences (Grant No. QYZDJ-SSW-JSC004).

Author information



Corresponding author

Correspondence to Junzhi Yu.

Electronic supplementary material

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Yu, J., Li, X., Pang, L. et al. Design and attitude control of a novel robotic jellyfish capable of 3D motion. Sci. China Inf. Sci. 62, 194201 (2019).

Download citation