We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the implementation of a novel propulsion system that is capable of achieving higher oscillation frequencies with a more sinusoidal waveform, the open source soft robotic fish achieves a top speed of $0.85~\mathrm{m/s}$. Hereby, it outperforms the previously reported fastest soft robotic fish by $27\%$. Besides the propulsion system, the optimization of the fish morphology played a crucial role in achieving this speed. In this work, a detailed description of the design, construction and customization of the soft robotic fish is presented. Hereby, we hope this open source design will accelerate future research and developments in soft robotic fish.

翻译：我们介绍OpenFish:一种开放源的软机器人鱼,其速度和效率是最佳的。软机器人鱼使用一种活性和被动尾鱼部分的组合来准确模仿全底游泳模式。通过实施一种能够以更正弦波形的波形实现更高振荡频率的新颖推进系统,开放源的软机器人鱼达到最高速度0.85 ⁇ mathrm{m/s}$。在这里,它比以前报告的最快软机器人鱼高出27美元。除了推进系统外,鱼形态的优化在实现这一速度方面发挥了关键作用。在这项工作中,对软机器人鱼的设计、构造和定制作了详细描述。我们希望这种开放源设计将加速软机器人鱼的未来研发。