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Summary
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A new centimeter-scale swimming robot achieves fast, maneuverable, untethered operation using soft pectoral fins. This design enables exploration and measurement in cluttered aquatic environments like aquafarms.

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Area of Science:

  • Robotics
  • Fluid Dynamics
  • Biomimetics

Background:

  • Aquatic environments present challenges for robots due to unstructured and cluttered conditions.
  • Efficient navigation and data collection in water bodies are crucial for applications like aquafarming.

Purpose of the Study:

  • To develop a fast, highly maneuverable, centimeter-scale swimming robot for autonomous operation in complex aquatic environments.
  • To enable efficient locomotion, communication, and energy harvesting for aquatic robots.

Main Methods:

  • Locomotion is achieved using a pair of soft, millimeter-thin pectoral fins with electrically excited traveling waves.
  • A single soft electrohydraulic actuator per side generates propulsion.
  • A compact, lightweight power supply enables untethered operation with reduced voltage and power consumption.

Main Results:

  • The robot demonstrates fast translation (5.1 cm/s) and rotation (195°/s).
  • It navigates narrow spaces, moves through grassy plants, and pushes objects exceeding 16 times its body weight.
  • Optimized dimensions and operating conditions were determined through experimental study and modeling.

Conclusions:

  • The developed swimming robot offers high performance and maneuverability for exploring complex aquatic environments.
  • Potential applications include continuous monitoring of plant and water parameters for aquafarming and environmental exploration.