Objective: This project focused on developing a modular, tetherless soft robotic eel to improve underwater maneuverability and minimize environmental disruption compared to traditional rigid-bodied systems. Building on prior research, the goal was to enhance mechanical performance, modularity, and future sensor expandability

System Design & Decision Making: The robot utilizes anguilliform locomotion, propelled by a cable-driven mechanism. A high-level decision was made to prioritize modularity; we designed interchangeable 3D-printed segments that allow for rapid repair and easy scaling.

Material Innovation & Performance: A critical design choice involved selecting NinjaTek Chinchilla TPE for the flexible accordion segments. Empirical testing validated that this material achieved a ~72° bend angle, nearly doubling the performance of more rigid alternatives. This choice directly correlated to improved swimming speeds, peaking at 0.167 body lengths per second.

Resilient Engineering & Waterproofing: To manage a strict $1,000 budget, we developed an “Inside-Out” waterproofing strategy. Rather than a complex dry hull, we individually protected non-aquatic servos using high-performance lubricants (NyoGel and Super Lube) and 3M Marine Sealant.

Engineering Skills & Applied Knowledge

Technical (Hard) Skills

• Parametric CAD Design: Utilized SolidWorks to develop heavily parameterized models for simulating accordion geometries and bend-angle proxies prior to fabrication.

• Additive Manufacturing (FDM): Mastered 3D printing with low-durometer Thermoplastic Elastomers (TPE), overcoming high failure rates associated with soft, flexible filaments.
• Systems Integration: Integrated an ESP32 microcontroller and 360° feedback servos to execute a closed-loop control system for coordinated undulatory motion.
• Robotic Kinematics: Applied biological movement models to hard-code sinusoidal wave functions, implementing discrete phase shifts to synchronize multiple body segments.

• Quantitative Analysis: Performed motion-tracking data extraction using Physlet Tracker to calculate velocity and validate design iterations through pool testing.

Collaborative (Soft) Skills

• Interdisciplinary Teamwork: Co-authored a comprehensive 50+ page technical report (linked below) and presented findings to faculty, coordinating between mechanical and electrical sub-tasks.
• Budget & Resource Management: Optimized a limited $1,000 budget by prioritizing custom-engineered solutions over expensive off-the-shelf underwater hardware.
• Technical Communication: Distilled complex bio-inspired robotics research into accessible presentations for both academic and non-technical audiences.