Model-Based Design Optimization of Underwater Flagellate Propellers

A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy bacterial flagella, these modules passively adapt to surrounding fluid provide a propulsive thrust. In present paper we aim at further investigating behaviour this device and address optimization its design towards improved capabilities. This process is allowed by an accurate, yet simple, theoretical model which able precisely describe robot's behaviour. The optimal prototype fabricated, employing composite material that ad-hoc designed stiffness. Finally, simple robotic built tested validate performances.