These soft robots can do the butterfly stroke.
Strouhal number is related to wing flapping frequency, amplitude, and swimming speed. Mathematically, it is the ratio of the product of flapping frequency and amplitude to speed. A higher flapping frequency may lead to a higher swimming speed, but it does not necessarily render a high power efficiency since it consumes more energy.Only when the ratio or the number falls in a range of 0.2-0.4, it can give a peak propulsion efficiency and thus a power efficiency.
The maneuverable bot employs two side-by-side body movements to independently actuate either wing. So, when the left wing is flapping while the right wing does not, it will take a right turn or vice versa. When both wings are actuated to flap simultaneously, it will swim forward, like the faster bot.To overcome the small force in both the soft robots, the researchers adopted the concept of snapping, a fast motion observed in theand the Venus Flytrap.
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