# Reinforcement Learning-Based Tendon-Driven Bionic Jellyfish Robot Achieves Closed-Loop Depth Control

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ycbsven9abz1qxtvnqj7k1qr0
- Original: https://arxiv.org/abs/2609.29132

## Summary

A tendon-driven bionic jellyfish robot achieves 150° bending through soft actuators that combine a flexible substrate with discrete constraints, with tendon displacement and bending angle approximately linear. Eight actuators driven by four servos enable stable swimming, attitude adjustment, and self-righting. A reinforcement learning controller trained on this linear actuation characteristic achieved closed-loop depth regulation in both simulation and physical experiments.