Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop controller to actuate a passive underwater glider. A soft hydrostatic pressure sensor is configured as a bangbang controller actuating a swim bladder made from silicone balloons. Our underwater glider oscillates between the water surface and 4 m depth while traveling 15 m translational. The fluidic underwater glider demonstrates a power efficiency of 28 mW/m. This work demonstrates a low-cost and power-efficient underwater glider and non-electronic controller. Due to its simple design, low cost, and ease of fabrication using FDM printing and soft lithography, it serves as a starting point for the exploration of non-electronic underwater soft robots.

翻译：与传统水下机器人相比，软体水下机器人通常以牺牲功率效率为代价探索仿生设计，这限制了其在现实应用中的实际用途。我们利用流体闭环控制器驱动被动式水下滑翔机。软体静压传感器配置为bangbang控制器，用于驱动由硅胶气球制成的泳囊。我们的水下滑翔机在水面与4米深度之间振荡，同时实现15米的水平位移。该流体水下滑翔机展示了28毫瓦/米的功率效率。这项工作展示了低成本、高能效的水下滑翔机及非电子控制器。由于其设计简单、成本低廉，并可通过FDM打印和软光刻技术便捷制造，它为探索非电子式水下软体机器人提供了起点。