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Under-actuated Soft Batoids

Batoids (e.g. stingrays, mantarays, etc) are capable of unparalleled maneuverability with relatively simple body kinematics. In this project we are developing designs for autonomous vehicles that mimic the basic principles of large fin propulsion employed by batoids. Vehicles consist of continuous viscoelastic bodies with material distributions such that dominant modes of vibration match as closely as possible desired fin and body motions.

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