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In this paper, we present the design and fabrication of a centimeter-scale propulsion system for a robotic fish. The key to the design is selection of an appropriate actuator and a body frame that is simple and compact. SMA spring actuators are customized to provide the necessary work output for the microrobotic fish. The flexure joints, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of copper laminated polymer film, sandwiched between two layers ofdoi:10.1109/robot.2008.4543288 dblp:conf/icra/ChoHQW08 fatcat:6d46osi3hjdtdpxnlda44jcrie