A Controllable Nonlinear Bistable “Fishtail” Boosting Robotic Swimmer with Excellent Maneuverability and High Energy Efficiency

), and greater maneuverability (with an average turning speed of up to 107°/s at a much smaller turning radius of 0.31 body length). This study will definitely provide an efficient controllable and feasible approach to the design of nonlinear compliant propulsion systems for underwater vehicles by exploring nonlinear dynamics.