Locomotion study of a single actuated, modular swimming robot

Abstract

This paper introduces a concept for a biologically inspired modular swimming robot, which is able to perform different swimming styles of steady swimming species. Therefore the robot has two kinds of modules: 1. a basic structure, which creates the required torque and determines the swimming direction of the robot; 2. effector modules that generate the robot's propulsion in interaction with the surrounding liquid. Due to the specific task, the effector modules are exchangeable.