Science Robotics

Supplementary Materials

The PDF file includes:

  • Text
  • Fig. S1. Internal structure of fusion deposition modeling (FDM) 3D-printed materials with different part fill densities.
  • Fig. S2. Elastomer infiltration for a 3D-printed material.
  • Fig. S3. Airtight testing of an elastomer-infiltrated 3D-printed closed chamber.
  • Fig. S4. Kinematic and lift-based swimming principles.
  • Fig. S5. Drag force on a wire in a steady fluid flow.
  • Fig. S6. Drag versus flow speed for the Tunabot body.
  • Fig. S7. Tunabot body drag coefficients.
  • Fig. S8. Tunabot head and tail oscillation amplitude.
  • Fig. S9. Scombrid fish 3D anatomy.
  • Fig. S10. Scombrid fish 3D anatomy.
  • References (9193)

Download PDF

Other Supplementary Material for this manuscript includes the following:

  • Table S1 (Microsoft Excel format). Data used for Fig. 1: Fish and robot locomotor performance space.
  • Movie S1 (.mp4 format). Yellowfin tuna steady swimming.
  • Movie S2 (.mp4 format). Atlantic mackerel steady swimming.
  • Movie S3 (.mp4 format). Tunabot swimming in a flow tank.
  • Movie S4 (.mp4 format). Tunabot swimming in laser light sheet.
  • Movie S5 (.mp4 format). Wide view of Tunabot wake flow patterns.
  • Movie S6 (.mp4 format). Close view of Tunabot wake flow visualization around the caudal fin.
  • Movie S7 (.mp4 format). Animation of the Tunabot propulsive mechanism.

Files in this Data Supplement: