CarbonFish -- A Bistable Underactuated Compliant Fish Robot capable of High Frequency Undulation

When juxtaposed with conventional soft and compliant robotic systems, HCMs exhibit pronounced rigidity, augmented mobility, reproducible repeatability, and an effective design and fabrication paradigm. In this research, we investigate the feasibility of utilizing carbon fiber-reinforced plastic (CFRP) as the foundational material for an HCM-based fish robot, herein referred to as "CarbonFish." Our objective centers on realizing high-frequency undulatory motion, thereby laying the groundwork for accelerated aquatic locomotion in subsequent models. We proffer an exhaustive design and fabrication schema underpinned by mathematical principles. Preliminary evaluations of our single-actuated CarbonFish have evidenced an undulation frequency approaching 10 Hz, suggesting its potential to outperform other biologically inspired aquatic entities as well as real fish. Keywords: soft fish robot, compliant mechanism, bistability, undulation swimming Main Text Introduction Soft and compliant robotics represents an advancing domain in robotics research, emphasizing the design and development of robots utilizing soft and deformable materials.