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Towards a biomimetic EAP robot

This paper describes preliminary experiments with an EAP (electroactive polymer) robot. The research reported here serves two purposes. First, we aim at building a testbed to investigate control methods of EAP actuators. Second, we wish to build an underwater robot that mimics undulating motions of pectoral fins. The prototype described in this paper has two pectoral fins. The tests confirm that the fins are able to generate thrust and move the robot forward. The mechanical design of the fins is reliable but the results largely depend on the properties of the electroactive polymers.