Compliant origami swimming robots have many applications, from search-and-rescue to underwater discovery. Using manufacturing techniques such as laser cutting and additive manufacturing, compliant origami swimming robots can be manufactured quickly and with smaller expense than typical rigid robots. However, they often experience issues with efficiency and swimming speed. This thesis presents a compliant origami swimming robot which improves its efficiency through the addition of a fin joint. It was determined that the positioning of the fin joint affected the achievable velocity, thrust, and efficiency.
