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Scombrid fishes and tuna are efficient swimmers capable of maximizing performance to escape predators and save energy during long journeys. A key aspect in achieving these goals is the flexibility of the tail, which the fish optimizes…

Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…

In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…

Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due…

Robotic fish is one of the most promising directions of the new generation of underwater vehicles. Traditional biomimetic fish often mimic fish joints using tandem components like servos, which leads to increased volume, weight and control…

We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the…

Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…

A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts…

The robotic fish with high propulsion efficiency and good maneuverability achieves underwater fishlike propulsion by commonly adopting the motor to drive the fishtail, causing the significant fluctuations of the motor power due to the…

Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…

The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…

Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…

Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among robotic fish employing the Body-Caudal Fin (BCF) locomotion…

In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…

Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…

Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…

In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal…

Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…

This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…

Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…