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Natural selection has tuned many flying and swimming animals across differentspecies to share the same narrow design space for optimal high-efficient andenergy-saving locomotion, e.g., their dimensionless Strouhal numbers St thatrelate flapping frequency and amplitude and forward speed fall within the rangeof 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging toachieve both fast and high-efficient soft-bodied swimming robots with highperformances that are comparable to marine animals, due to the observed narrowoptimal design space in nature and the compliance of soft body. Here,bioinspired by the wing or fin flapping motion in flying and swimming animals,we report leveraging the generic principle of snapping instabilities in thebistable and multistable flexible pre-curved wings for high-performance,butterfly swimming-like, soft-bodied flapping-wing robots. The soft swimmingrobot is lightweight (2.8 grams) and demonstrates a record-high speed of 3.74body length/s (4.8 times faster than the reported fastest soft swimmer),high-efficient (0.2 < St = 0.25 < 0.4), low energy consumption cost, and highmaneuverability (a high turning speed of 157o /s). Its high performanceslargely outperform the state-of-the-art soft swimming robots and are evencomparable to its biological counterparts.

Snapping for high-speed and high-efficient, butterfly swimming-like soft flapping-wing robot