# An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion

arXiv: https://arxiv.org/abs/2411.00347 · HTML: https://mlsanity.com/paper/2411.00347/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 27 references that are in the map.
- First posted on arXiv 1 Nov 2024.

## Builds on (most cited first, 4 of 4)

- [Constrained Motion Planning of A Cable-Driven Soft Robot With Compressible Curvature Modeling](https://mlsanity.com/paper/2106.08250/) (2021)
- [Soft Lattice Modules that Behave Independently and Collectively](https://mlsanity.com/paper/2110.11485/) (2021)
- [Adaptive and Resilient Soft Tensegrity Robots](https://mlsanity.com/paper/1702.03258/) (2017)
- [SoftSnap: Rapid Prototyping of Untethered Soft Robots Using Snap-Together Modules](https://mlsanity.com/paper/2410.19169/) (2024)

## Built on by (most cited first, 1 of 1)

- [FlowMo-WM: A World Model with Object Momentum and Hidden Ambient Drift](https://mlsanity.com/paper/2606.13817/) (2026)

## Abstract (arXiv)

This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design -- which will be made opensource -- incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics.