Inspired by the fastest observed live fishes, we have designed, built and tested a robotic fish that emulates the fast-start maneuver of these fishes and generates acceleration and velocity magnitudes comparable to those of the live fishes within the same time scale. We have designed the robotic fish such that it uses the snap-through bucking of its spine to generate the fast-start response. We have used a dynamic snap-through buckling model and a series of experiments on a beam under snap-through buckling to describe the robotic fish’s motion. Our under-actuated robot relies on passive dynamics of a continuous beam to generate organic waveforms. In its transient fast-start maneuver, our robotic fish produces mode shapes very similar to those observed in live fishes, by going through a snap-through bifurcation. We have also used a nonlinear structural model subjected to a non-conservative eccentric compressive force, which is constrained to act tangential to the structure at all...

中文翻译：

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受生物启发的机器鱼利用其脊柱的快速屈曲产生超过 20 克的加速度。

受到观察到的最快活鱼的启发，我们设计、建造和测试了一种机器鱼，它模拟这些鱼的快速启动动作，并在同一时间尺度内产生与活鱼相当的加速度和速度幅度。我们设计了机器鱼，使其使用脊柱的快速弯曲来产生快速启动响应。我们使用动态快速屈曲模型和一系列在快速屈曲下横梁上的实验来描述机器鱼的运动。我们的欠驱动机器人依靠连续光束的被动动力学来生成有机波形。在其瞬态快速启动机动中，我们的机器鱼通过快速通过分叉产生与在活鱼中观察到的模式非常相似的模式形状。