Supplementary Material for:

Exploration of underwater life with an acoustically controlled soft robotic fish

Robert K. Katzschmann,* Joseph DelPreto, Robert MacCurdy, Daniela Rus

*Corresponding author. Email: rkk{at}csail.mit.edu

Published 21 March 2018, Sci. Robot. 3, eaar3449 (2018)
DOI: 10.1126/scirobotics.aar3449

This PDF file includes:

• Materials and Methods
• Fig. S1. Wax core fabrication.
• Fig. S2. Tail fabrication.
• Fig. S3. External gear pump.
• Fig. S4. Buoyancy control system.
• Fig. S5. Additional buoyancy control experiments.
• Fig. S6. Acoustic reflections.
• Fig. S7. Motor’s broad spectrum noise.
• Fig. S8. Acoustic range tests.
• Fig. S9. Performance of tone detection algorithm.
• Fig. S10. Ocean communication tests.
• Table S1. Color measurements of exposed parts.
• Table S2. Dive summaries.
• Table S3. Tail strokes.
• Legend for movie S1

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Underwater experiments.