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Range of key structural parameters of the soft robot.
| Key structural parameters of soft robot | Range of optimization |
|---|---|
| A: caudal peduncle height (m) | 0.001~0.064 |
| B: caudal fin height (m) | 0.001~0.064 |
| C: body thickness (CFRP thickness) (m) | 0.0001~0.001 |
| D: radius of head weight (m) | 0.001~0.007 |
| Entire robot body length (m) | 0.175 |
