Jellyfish has attracted extensive attention in the field of bionics in recent years due to its efficient motion performance and flexible sensory function. It 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, with flutter propulsion from bionic fin rays based on flexible structure and jet propulsion from 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 bionic jellyfish 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 100mm/s. It can realize flexible underwater omnidirectional movement. Simulating the phototaxis characteristics of jellyfish, a phototaxis control system combined with machine learning algorithms can realize underwater phototaxis movement.
