Science Robotics

Supplementary Materials

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}

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.

Files in this Data Supplement: