Harvard Microrobotics Lab

At the Harvard Microrobotics Laboratory, I explored a question inspired by nature: could a soft robot move through water with the flexibility and efficiency of an eel? Rather than relying on conventional propellers, our robot used pneumatic actuators embedded within a flexible silicone body to generate a swimming motion.

My work began with fabrication. I designed and prepared molds, cast silicone elastomers, and produced multiple eel geometries to study how changes in shape and material stiffness affected movement. Working with soft materials required precision—small variations in casting, wall thickness, or actuator placement could significantly change how the robot bent under pressure. Through repeated prototyping, I helped develop a tapered design that achieved approximately 65 degrees of deflection while remaining within the system’s 20-psi pressure limit.

I then wrote Python programs to control the pneumatic system and run repeatable actuation tests. Using MATLAB and OpenCV, I tracked the eel’s motion and analyzed how its geometry, stiffness, and actuation strategy influenced displacement, velocity, and swimming behavior. Instead of treating an unsuccessful prototype as a failure, I used its performance data to identify the next design change, then fabricated and tested another iteration.

This experience introduced me to the iterative nature of robotics research: design, build, test, analyze, and redesign. It also showed me the potential of bio-inspired, compliant robots to operate safely in environments where rigid machines may struggle. The project deepened my interest in underwater robotics and gave me a foundation in soft-material fabrication, pneumatic control, computer vision, and experimental analysis that continues to influence the marine systems I pursue today.