Design and Testing of a Multi-Module, Tetherless, Soft Robotic Eel
Robin Hall,Gabriel Espinosa,Shou-Shan Chiang,Cagdas D. Onal,Robin Hall,Gabriel Espinosa,Shou-Shan Chiang,Cagdas D. Onal
This paper presents a free-swimming, tetherless, cable-driven modular soft robotic fish. The body comprises a series of 3D-printed wave spring structures that create a flexible biologically inspired shape that is capable of an anguilliform swimming gait. A three-module soft robotic fish was designed, fabricated, and evaluated. The motion of the robot was characterized and different combinations of...