Development of Snap-through Buckling-driven Fish-type Robot with Elastic Outer Skin

摘要

Fish display agile swimming behavior, including rapid acceleration and turning, in response to danger or while hunting. The objective of this research is to replicate such rapid movements in a robotic system. We investigated a fish-inspired robot utilizing a snap-through buckling mechanism, which features a simple structure capable of storing and releasing elastic energy. Previous research involved the development of a robot with a multi-link body structure. However, noticeable gaps existed between the links, resulting in a significant deviation from the fish’s external appearance. In this study, we addressed this issue by enclosing the body’s gaps with a thin silicon membrane, thereby achieving a closer resemblance to a fish. Additionally, we conducted swimming experiments to assess the waterproofing and swimming capabilities of the robot.