Jellyfish-inspired robots offer a compliant and efficient approach to underwater locomotion, but achieving large deformation together with repeatable actuation and closed-loop control remains challenging. In this work, we present a tendon-driven robotic jellyfish with constrained soft actuation. Each actuator combines a flexible substrate with discrete constraints, enabling bending up to \(150^\circ\) with an approximately linear tendon displacement-bending relationship. Eight actuators driven by four servos allow the robot to perform stable swimming, attitude adjustment, and self-righting. Based on the linear actuation, a reinforcement-learning controller is further developed, enabling closed-loop depth regulation in both simulation and physical experiments. These results show that mechanical constraints can improve the controllability of soft actuation while preserving compliant jellyfish-like motion, providing a route toward manoeuvrable and autonomous jellyfish robots.

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