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Soft robots are capable of inherently safer interactions with theirenvironment than rigid robots since they can mechanically deform in response tounanticipated stimuli. However, their complex mechanics can make planning andcontrol difficult, particularly with tasks such as locomotion. In this work, wepresent a mobile and untethered underwater crawling soft robot, PATRICK, pairedwith a testbed that demonstrates closed-loop locomotion planning. PATRICK isinspired by the brittle star, with five flexible legs actuated by a total of 20shape-memory alloy (SMA) wires, providing a rich variety of possible motionsvia its large input space. We propose a motion planning infrastructure based ona simple set of PATRICK's motion primitives, and provide experiments showingthat the planner can command the robot to locomote to a goal state. Theseexperiments contribute the first examples of closed-loop, state-space goalseeking of an underwater, untethered, soft crawling robot, and make progresstowards full autonomy of soft mobile robotic systems.

An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion