MAGISH: MAGnetically Switched Bistable Swimming for Insect-Scale Robotic Fish

Abstract: Inspired by snapping fish fins, we develop an untethered insect-scale swimmer that couples electromagnetic triggering with a bistable tail to generate rapid, high-curvature strokes. A principle-driven design–model–test loop links compact onboard actuation with structural bistability, while Discrete Elastic Rod (DER) modeling guides geometry and stiffness choices that shape motion. Focusing on transferable ideas rather than build details, we show how bistability, magnetic triggering, and elastic-rod reasoning combine to yield agile, robust behavior at the centimeter scale. The swimmer reaches a uniform speed of 2 body lengths per second, placing it among leading insect-scale underwater locomotion designs.