Tabak, Ahmet FatihYeşilyurt, Serhat2020-11-212020-11-2120132153-08589.78147E+12https://doi.org/10.1109/IROS.2013.6697017https://hdl.handle.net/11467/38442013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 -- 3 November 2013 through 8 November 2013 -- Tokyo -- 102443Bio-inspired micro-robots are of great importance as to implement versatile microsystems for a variety of in vivo and in vitro applications in medicine and biology. Accurate models are necessary to understand the swimming and rigid-body dynamics of such systems. In this study, a series of experiments are conducted with a two-link cm-scale bio-inspired robot moving vertically without a tether, in silicone-filled narrow cylindrical glass channels. Swimming velocities are obtained for a set of varying tail and wave geometries, and employed to validate a resistive force theory (RFT) model using modified resistance coefficients based on measured forward velocity and body rotation rates. © 2013 IEEE.eninfo:eu-repo/semantics/closedAccessConference Object45964601N/AWOS:000331367404098N/A2-s2.0-8489380517810.1109/IROS.2013.6697017