Figure 1 | Scientific Reports

Figure 1

From: Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

Figure 1

The similarities between the turtle flipper’s anatomy and the soft oriented angle pneumatic actuator with the CAD designs of SPA. The figure shows that the front flippers have wider rotation range than the back ones. The designed actuators motion is from morphology of the real turtle. Every flippers has its origin point and tip position point that the analysis is implemented based on it.

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