Brittle Star Robot (IROS 2020 Submission)

This is a video of our brittle star inspired robot, PATRICK, that we will present at IROS 2020 in Las Vegas. To our knowledge, it is the first untethered underwater soft crawling robot, as well as the first untethered soft robot that uses feedback control to accomplish high level goal following. The last portion of this video demonstrates the robot approaching the gold ball using said feedback control. The robot chooses the best direction and determines the active actuators based on that direction. The ga