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As seen in: The Astronomical Journal
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Thrust force characterization of free-swimming soft robotic jellyfish

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By Nick Lopez, Oscar Curet https, Jennifer Frame, Oscar Curet
| The Astronomical Journal Verified
To enable the jellyfish to steer, two impeller pumps were used to inflate the eight tentacles, four tentacles per pump on opposing sides of the robot. The impeller pump design produced an open circuit of water flow, where water from the environment was pumped into the soft actuators to produce a swimming stroke.
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