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A Motor-less and Gear-less Bio-mimetic Robotic Fish Design

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Figure

Fig. 1. Different kinds of undulatory swimming: from left to right: anguilliform, subcarangiform, carangiform, thunniform
Fig. 6. Detail of the SMA arrangement, anchoring and tension regulation mechanics.
Fig. 10. Simulations results: torques at the joints corresponding to steady forward swimming (atail = 0.54, a body = a tail /2, φ tail = −π/4, φ body = 0,  tail-beat frequency = π/2 Hz)
Fig. 11. Steady forward swimming (atail = 0.54, abody = atail/2, φtail = −π/4, φbody = 0, tail-beat frequency=π/2 Hz).
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