Robot | Muscle Mass (g) | Muscle Len. (mm) | Peak Muscle Strain | Muscle Shortening Vel. (mm/s) | Tail-beat Freq. (Hz) | Tail Amp. (mm) | Max. Robot Speed (mm/s) | Wave Speed (mm/s) | Wave Len. (mm) | Slip |
---|---|---|---|---|---|---|---|---|---|---|
B1a | 0.31 | 31 | 6.5% | 25 | 3.1 | 16 | 31 | 121 | 39 | 0.26 |
B1b | 0.34 | 31 | 6.5% | 25 | 3.1 | 16 | 45 | 140 | 45 | 0.32 |