2020
A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation
RA-L 2020
This letter presents a novel design of an oscillatory fin for thrust-efficient and agile underwater robotic locomotion. We propose a flat paddle-fin comprising a set of overlapping cascaded soft flaps that open in one half of the stroke cycle and close in the other. Consequently, asymmetry in the la