FIG. 4.
Characterization results of the robot with fixed-free boundary condition. (a) Measured tail amplitude as a function of the applied voltage, at the driving frequency of 0.25 Hz. (b) Measured tail amplitude and thrust force as functions of the driving frequency at the applied voltage of 5 kV. ff1-3 are the natural frequencies computed with the model. (c) Deformations of the robot at the applied voltage of 5 kV. Green lines represent the topside of the robot structure. The inset graphs show simulated resonance mode shapes corresponding to the first (left), second (middle), and third (right) modes. The deformation w is scaled. Color images available online at www.liebertpub.com/soro