Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated using this method and are mounted on our untethered soft robotic fish. Using this mechanism, we achieve life-like undulation with a Strouhal number (1) of St = 0.28 and a velocity of 2.03 body lengths per second (43.6 cm/s), a three-fold improvement over past compliant fish robots. A tethered pneumatic version indicates that this mechanism is compatible with soft actuators. We study the mechanism both computationally and experimentally and suggest that elastic instability may offer a path to overcome the speed challenge of soft and compliant robots.

翻译：在钢毛剪的快速伸展作用的启发下,我们为机内预设装置提出了一个设计方法,显示生物模拟变形和高动能性能。软软体机器人鱼上安装了复合闪烁机制,用这种方法制造了复合闪烁式闪烁机制。利用这个机制,我们用St =0.28的1个斯特罗乌哈尔编号和每秒2.03个体长的速度(43.6厘米/秒)实现生命般的无牵挂,比过去符合要求的鱼机器人改进了三倍。一个电动充气式的版本表明这一机制与软动画器兼容。我们用计算和实验方法研究了这一机制,并表明弹性不稳定可能提供一条克服软体和符合要求的机器人速度挑战的途径。