This paper introduces a concept for a biologically inspired modular swimming robot, which is able to perform different swimming styles of steady swimming species. Therefore the robot has two kinds of modules: 1. a basic structure, which creates the required torque and determines the swimming direction of the robot; 2. effector modules that generate the robot's propulsion in interaction with the surrounding liquid. Due to the specific task, the effector modules are exchangeable.This approach enables the gain of technical and biological knowledge: The results of research tend to a design that is suited to fulfill tasks in particular situations when common marine propeller driven robots are not able to work (e.g. an environment with many plants). In addition, the permutation of bio-analogous features in a robot improves understanding of the biological antetype.The current design of the effector modules is inspired by undulant swimming species, mainly sea snakes and eels. Biological research and mathematical modeling yielded to a three segmented tail structure. The coupling of the segments to each other uses spring elements.

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This article introduces a biologically inspired modular swimming robot. Due to defi ned interfaces in mass, energy, and information fl ux, the robot's swimming behavior is changeable: an undulant, successive called anguilliform as well as a thunniform swimming mode is adjustable. Unlike the current state of the art, the robot comes with specifi c designed mechanics for the reduction of the complexity of software-sided control. Thereby, the number of actuators required for propulsion is reduced to the minimum number of one. Currently the prototype robot consists of a basic structure generating amongst others the required torque and several effector modules. The locomotion mode is switchable depending on the number of effector modules. Thereby, the latest anguilliform setup contains three effector modules. The current thunniform confi guration features one effector module. The effector modules are mechanically coupled with a manually tunable compliant joint. Optimum values concerning spring stiffness subjected to the location of the joint within the robot are evaluated by simulation.

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