A robotic eel may comprise a plurality of torque reaction engines, an inertial mass, and a fin. Each of the plurality of torque reaction engines oscillates an inertial mass about an axis, producing a torque reaction on and oscillation of an external shaft. Oscillation of the external shaft bends a beam of the robotic eel. Bending the beam of the robotic eel produces at least one of a traveling or a standing wave in the beam. The traveling wave may be communicated to a second torque reaction of the plurality of torque reaction engines and to the fin, producing thrust.

A robotic eel may comprise a plurality of torque reaction engines, an inertial mass, and a fin. Each of the plurality of torque reaction engines oscillates an inertial mass about an axis, producing a torque reaction on and oscillation of an external shaft. Oscillation of the external shaft bends a beam of the robotic eel. Bending the beam of the robotic eel produces at least one of a traveling or a standing wave in the beam. The traveling wave may be communicated to a second torque reaction of the plurality of torque reaction engines and to the fin, producing thrust.

An exemplary inventive molding device includes two mold components characterized by matching rounded-star shapes. Each mold component includes eight congruent rounded-tip projections and eight congruent apertured sections separated from each other by the projections and describing a ring shape. The projections correspond to the equiangular points of a star. Each section has a medial hole and is interposed between and connects two projections. The mold components are joined so that their respective projections and holes are even with each other and fasteners are installed through the holes. Appropriate introduction and curing of a castable material inside the joined mold components produces a flexible device suitable for use as part of a biomimicking soft robot.

An exemplary inventive molding device includes two mold components characterized by matching rounded-star shapes. Each mold component includes eight congruent rounded-tip projections and eight congruent apertured sections separated from each other by the projections and describing a ring shape. The projections correspond to the equiangular points of a star. Each section has a medial hole and is interposed between and connects two projections. The mold components are joined so that their respective projections and holes are even with each other and fasteners are installed through the holes. Appropriate introduction and curing of a castable material inside the joined mold components produces a flexible device suitable for use as part of a biomimicking soft robot.

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing, accelerating thrust fluid and propelling the robotic fish.

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing comprising a disk, accelerating thrust fluid and propelling the robotic fish.

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing comprising a disk, accelerating thrust fluid and propelling the robotic fish.

A robotic fish comprises one or more torque reaction engines and a fin, wherein the one or more torque reaction engines cyclically oscillate and is to cause one or more waves to propagate through the fin, wherein the one or more waves accelerating thrust fluid and propel the robotic fish. The robotic fish may have a shape of a flagellum, a fish, a marine mammal, or a disc. The one or more of the one or more torque reaction engines may comprise a drive shaft or may comprise no drive shaft. When the one or more of the one or more torque reaction engines comprises no drive shaft, the one or more of the one or more torque reaction engines may comprise a bearing surface of a closed ball-and-socket joint.

A robotic fish comprises one or more torque reaction engines and a fin, wherein the one or more torque reaction engines cyclically oscillate and is to cause one or more waves to propagate through the fin, wherein the one or more waves accelerating thrust fluid and propel the robotic fish. The robotic fish may have a shape of a flagellum, a fish, a marine mammal, or a disc. The one or more of the one or more torque reaction engines may comprise a drive shaft or may comprise no drive shaft. When the one or more of the one or more torque reaction engines comprises no drive shaft, the one or more of the one or more torque reaction engines may comprise a bearing surface of a closed ball-and-socket joint.

An exemplary inventive molding device includes two mold components characterized by matching rounded-star shapes. Each mold component includes eight congruent rounded-tip projections and eight congruent apertured sections separated from each other by the projections and describing a ring shape. The projections correspond to the equiangular points of a star. Each section has a medial hole and is interposed between and connects two projections. The mold components are joined so that their respective projections and holes are even with each other and fasteners are installed through the holes. Appropriate introduction and curing of a castable material inside the joined mold components produces a flexible device suitable for use as part of a biomimicking soft robot.