Jellyfishes have attracted extensive attention in the field of bionics in recent years due to their efficient motion performance and flexible sensory function. They can be widely used in marine exploration and environmental governance and other fields. Based on the principles of bionics，a dual-drive bionic jellyfish is developed from the perspective of simulating the movement characteristics and phototaxis motion of jellyfish. The flutter propulsion is realized by bionic fin rays which is based on flexible structure，and the jet propulsion is realized by the tubular origami mechanism. The propulsion efficiency of jellyfish is effectively improved through the coordinated drive design of the double drive structure. The experimental results show that the propulsion efficiency is higher under the double drive mode. The propulsion force ratio between oscillating propulsion and jet propulsion is about 2.7︰1，and the maximum operating speed can reach 100 mm/s，which can realize flexible underwater omnidirectional movement. By simulating the phototaxis characteristics of jellyfish and building phototaxis control system based on machine learning algorithms，underwater phototaxis movement can be realized.
