Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. This paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. This model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. The material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. The model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configurations and the impact of material degradation and failure. The results show that slightly asymmetric designs are advantageous, offering comparable swimming velocities but greater maneuverability. This model can be used to guide future robotic design decisions aimed at optimizing performance for specific tasks.

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