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We present OpenFish: an open source soft robotic fish which is optimized forspeed and efficiency. The soft robotic fish uses a combination of an active andpassive tail segment to accurately mimic the thunniform swimming mode. Throughthe implementation of a novel propulsion system that is capable of achievinghigher oscillation frequencies with a more sinusoidal waveform, the open sourcesoft robotic fish achieves a top speed of $0.85~\mathrm{m/s}$. Hereby, itoutperforms the previously reported fastest soft robotic fish by $27\%$.Besides the propulsion system, the optimization of the fish morphology played acrucial role in achieving this speed. In this work, a detailed description ofthe design, construction and customization of the soft robotic fish ispresented. Hereby, we hope this open source design will accelerate futureresearch and developments in soft robotic fish.

OpenFish: Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion