Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866910213567676416 |
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| author | Zhang, Yiyuan Zhong, Anye Chen, Junkai Xin, Wenci |
| author_facet | Zhang, Yiyuan Zhong, Anye Chen, Junkai Xin, Wenci |
| contents | Cephalopod pulsed-jet locomotion is not a single isolated expulsion event, but a coordinated cycle involving jet expulsion, passive gliding, and mantle refilling. Inspired by this cycle-resolved biological strategy, this paper presents a cephalopod-inspired pulsed-jet robot with a rigid-soft hybrid origami mantle that enables large, actively driven, and geometry-guided body deformation. The proposed mantle integrates rigid folding panels with a compliant silicone framework, allowing a 75% effective cavity-volume reduction during expulsion and reducing the projected cross-sectional drag area by approximately 75.7% in the contracted gliding configuration. Using this platform, we formulate a cycle-resolved framework to separately investigate how expelled volume, glide duration, and refill pathway influence whole-cycle locomotion performance. Experiments show that the robot reaches a peak speed of approximately 0.5 m/s (3.8 BL/s) and an average speed exceeding 0.2 m/s (1.5 BL/s) within the first jetting cycle. The results further demonstrate the roles of high expelled-volume-ratio contraction in speed generation, reduced-drag-area gliding under different glide durations, and mantle-aperture-inspired passive inlet valves in assisting refill. This work provides both a robotic implementation of actively deformable cephalopod-like jet propulsion and a unified experimental platform for studying expulsion-gliding-refilling dynamics in pulsed-jet locomotion. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_05875 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding Zhang, Yiyuan Zhong, Anye Chen, Junkai Xin, Wenci Robotics Fluid Dynamics Cephalopod pulsed-jet locomotion is not a single isolated expulsion event, but a coordinated cycle involving jet expulsion, passive gliding, and mantle refilling. Inspired by this cycle-resolved biological strategy, this paper presents a cephalopod-inspired pulsed-jet robot with a rigid-soft hybrid origami mantle that enables large, actively driven, and geometry-guided body deformation. The proposed mantle integrates rigid folding panels with a compliant silicone framework, allowing a 75% effective cavity-volume reduction during expulsion and reducing the projected cross-sectional drag area by approximately 75.7% in the contracted gliding configuration. Using this platform, we formulate a cycle-resolved framework to separately investigate how expelled volume, glide duration, and refill pathway influence whole-cycle locomotion performance. Experiments show that the robot reaches a peak speed of approximately 0.5 m/s (3.8 BL/s) and an average speed exceeding 0.2 m/s (1.5 BL/s) within the first jetting cycle. The results further demonstrate the roles of high expelled-volume-ratio contraction in speed generation, reduced-drag-area gliding under different glide durations, and mantle-aperture-inspired passive inlet valves in assisting refill. This work provides both a robotic implementation of actively deformable cephalopod-like jet propulsion and a unified experimental platform for studying expulsion-gliding-refilling dynamics in pulsed-jet locomotion. |
| title | Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding |
| topic | Robotics Fluid Dynamics |
| url | https://arxiv.org/abs/2605.05875 |