Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps

Salps are marine animals consisting of chains of jellyfish-like units. Their capacity for effective underwater undulatory locomotion through coordinating multi-jet propulsion has aroused significant interest in the field of robotics and inspired extensive research including design, modeling, and control. In this paper, we conduct a comprehensive analysis of the locomotion of salp-like systems using the robotic platform "LandSalp" based on geometric mechanics, including mechanism design, dynamic modeling, system identification, and motion planning and control. Our work takes a step toward a better understanding of salps' underwater locomotion and provides a clear path for extending these insights to more complex and capable underwater robotic systems. Furthermore, this study illustrates the effectiveness of geometric mechanics in bio-inspired robots for efficient data-driven locomotion modeling, demonstrated by learning the dynamics of LandSalp from only 3 minutes of experimental data. Lastly, we extend the geometric mechanics principles to multi-jet propulsion systems with stability considerations and validate the theory through experiments on the LandSalp hardware.

@article{yang2025_2503.08817,
  title={ Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps },
  author={ Yanhao Yang and Nina L. Hecht and Yousef Salaman-Maclara and Nathan Justus and Zachary A. Thomas and Farhan Rozaidi and Ross L. Hatton },
  journal={arXiv preprint arXiv:2503.08817},
  year={ 2025 }
}