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Tuna-like robot. The swimming Tunabot Flex robot (25.5 cm total length) is powered by a single motor that induces a continuously rotatory motion which is translated to an oscillatory flapping motion of the tail (blue arrows in (a)). The robot consists of three body joints plus a fourth peduncle joint that incorporates an internal spring for torsional stiffness. Complete details of Tunabot Flex can be found in [16].
