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A single actuated, modular swimming robot performing different styles of steady swimming species

Inspired by steady swimming species, this paper introduces a modular robot which is able to perform different swimming modes. This robot has two different types of modules: 1. modules forming a basic structure which generates the required torque and determines the swimming direction and 2. effector modules which interact with surrounding water and create propulsion. Subjected to researcher's interest, the effector modules are exchangeable. Unlike the current state of the art in biologically inspired robotics, the robot generates propulsion with only one drive. A mechanical junction with a tuneable intrinsic compliance enables the required swinging motion of the body. The current design of effector modules implements slow anguilliform swimming. Biological research and mathematical modelling yielded to the latest design: a three segmented tail structure. The junction among each other occurs by linear spring elements.