Biomimetic autonomous robot inspired by the Cyanea capillata (Cyro)

Alex A. Villanueva, Kenneth J. Marut, Tyler Michael, Shashank Priya

Research output: Contribution to journalArticlepeer-review

32 Scopus citations


A biomimetic robot inspired by Cyanea capillata, termed as 'Cyro', was developed to meet the functional demands of underwater surveillance in defense and civilian applications. The vehicle was designed to mimic the morphology and swimming mechanism of the natural counterpart. The body of the vehicle consists of a rigid support structure with linear DC motors which actuate eight mechanical arms. The mechanical arms in conjunction with artificial mesoglea create the hydrodynamic force required for propulsion. The full vehicle measures 170 cm in diameter and has a total mass of 76 kg. An analytical model of the mechanical arm kinematics was developed. The analytical and experimental bell kinematics were analyzed and compared to the C. capillata. Cyro was found to reach the water surface untethered and autonomously from a depth of 182 cm in five actuation cycles. It achieved an average velocity of 8.47 cm s-1 while consuming an average power of 70 W. A two-axis thrust stand was developed to calculate the thrust directly from a single bell segment yielding an average thrust of 27.9 N for the whole vehicle. Steady state velocity during Cyro's swimming test was not reached but the measured performance during its last swim cycle resulted in a cost of transport of 10.9 J (kg ṡ m)-1 and total efficiency of 0.03.

Original languageEnglish (US)
Article number046005
JournalBioinspiration and Biomimetics
Issue number4
StatePublished - Dec 2013

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Biophysics
  • Biochemistry
  • Molecular Medicine
  • Engineering (miscellaneous)


Dive into the research topics of 'Biomimetic autonomous robot inspired by the Cyanea capillata (Cyro)'. Together they form a unique fingerprint.

Cite this