A tensegrity-fin batoid model with body–fluid interaction shows that in-phase tension actuation yields traveling fin waves and predicts that matching fin resonance to flapping frequency gives speed proportional to frequency.
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Dynamics modeling and analysis of batoid-type locomotion powered by tensegrity wing structure
A tensegrity-fin batoid model with body–fluid interaction shows that in-phase tension actuation yields traveling fin waves and predicts that matching fin resonance to flapping frequency gives speed proportional to frequency.