IEEE Robotics & Automation Magazine - December 2022 - 91

with fewer edge effects from the tanks walls. Considering
the feathers, even using the crude approximation of rectangular
structures, we have demonstrated that there is a
complex relationship between among morphology, control,
and resultant thrust. Further exploring this study to
consider other geometries, materials, and complex structures
(for example, bristles on the arms) would also extend
this exploration.
Acknowledgment
This project was partially funded by the European
Union's Horizon 2020 research and innovation program,
under Marie Skłodowska Curie grant 945363. Kai Junge,
Nana Obayashi, and Francesco Stella contributed equally
to this work.
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Kai Junge, Computational Robot Design and Fabrication Lab,
Swiss Federal Institute of Technology Lausanne, Lausanne
1015, Switzerland. E-mail: kai.junge@epfl.ch.
Nana Obayashi, Computational Robot Design and Fabrication
Lab, Swiss Federal Institute of Technology Lausanne, Lausanne
1015, Switzerland. E-mail: nana.obayashi@epfl.ch.
Francesco Stella, Computational Robot Design and Fabrication
Lab, Swiss Federal Institute of Technology Lausanne, Lausanne,
Switzerland, and Department of Cognitive Robotics,
Delft University of Technology, Delft 2628 CD, The Netherlands.
E-mail: francesco.stella@epfl.ch.
Cosimo Della Santina, Department of Cognitive Robotics,
Delft University of Technology, Delft 2628 CD, The Netherlands.
E-mail: cosimodellasantina@gmail.com.
Josie Hughes, Computational Robot Design and Fabrication
Lab, Swiss Federal Institute of Technology Lausanne, Lausanne
1015, Switzerland. E-mail: josie.hughes@epfl.ch.
DECEMBER 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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http://www.jstor.org/stable/99081 https://www.youtube.com/watch?v=oyketlthvwg&t=2s https://www.youtube.com/watch?v=oyketlthvwg&t=2s
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