fig5

Figure 5. Underwater travel speed comparison of various soft robots. (0.42 cm/s) Soft robotic manta ray composed of IPMC that can move underwater^[65]. (1.158 cm/s) Soft robotic origami jellyfish that allows for fluidic jet propulsion^[173]. (2.5-2.8 cm/s) Soft robotic jellyfish composed of SMAs to allow for motion in underwater environments^[177]. (3.72 cm/s) Soft robotic fish composed of dielectric elastomers that can move forward when actuated^[180]. (All images are licensed under CC BY 4.0. http://creativecommons.org/licenses/by/4.0/.) IPMC: Ionic polymer metal composites; SMAs: shape memory alloys.