Jacobo Cervera-Torralba

Analysis of Kinematics and Propulsion of a Self-Sensing Multi-DoF Undulating Soft Robotic Fish

In this paper we explore kinematics ranging from anguilliform to thunniform achieved in a self-sensing multi-degree-of-freedom soft robotic fish and analyze the effect of them on the swimming. First, we examine the characteristics of the bending actuators of the robotic fish. Then, we express the ki