Inspec keywords: microrobots; piezoelectric actuators; marine engineering; biomimetics

Other keywords: flapping wings; water surface resistance coefficient; four-bar transmission structure; coin-size bionic water-skating robot; PZT bending actuator; piezoelectric bending actuator; water surface; frequency 105 Hz; piezoelectric driven insect-inspired robot; elastic legs; water drag; driving force

Subjects: Marine system control; Electric actuators and final control equipment; Microactuators; Robotics