Research data supporting 'Highly agile flat swimming robot'

The dataset supporting 'Highly agile flat swimming robot', published in Science Robotics in 2025 under the DOI: 10.1126/scirobotics.adr0721.

In this work, we present a fast (5.1 cm/s translation and 195 °/s rotation), centimeter-scale swimming robot with high maneuverability and autonomous untethered operation. Locomotion is enabled by a pair of soft, millimeter-thin, undulating pectoral fins, in which traveling waves are electrically excited to generate propulsion. The actuators, robot design, and power supply are co-designed to enable high-performance locomotion in a scaled down system. A single soft electrohydraulic actuator per side generates the traveling wave. A compact and lightweight power supply enables untethered operation, made possible by decreasing the operating voltage of the electrohydraulic actuators to below 500 V and their power consumption to 35 mW. By an experimental study and by modeling, optimum dimensions and operating conditions were determined across designs and size scales. The robots navigate through narrow spaces, through grassy plants, and push objects weighing over 16x their body weight. 

This dataset contains the characterization data of the locomotion modules and robots themselves. Characterization data includes measurements of swimming speed, thrust, power consumption and other metrics.