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Table I Muscle actuator parameters and swimming robot performance parameters (mean values, N = 4) at the maximum forward swimming speed for robotic build-ups, B1a and B1b.

From: A swimming robot actuated by living muscle tissue

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