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The innovative design incorporates flexible joint modules that significantly enhance the robot\u2019s ability to navigate through narrow and irregular terrains, which is a notable limitation in traditional rigidly connected underwater robots. These flexible joints provide increased degrees of freedom and enable the robot to absorb and release energy, ensuring stability even under external impacts, thus extending the operational lifespan of the robot. Finite element analysis demonstrates the flexible joints\u2019 superior performance in various underwater conditions, offering a greater range of motion and workspace compared to rigid connections. The results indicate that the robot\u2019s modular design, combined with the flexible joint module, leads to improved agility and maneuverability, allowing for precise and intentional operation. The control module, equipped with advanced sensors and a CPU, manages the complex dynamics introduced by the flexible joints, ensuring effective navigation and operation. The specific advantages of this design include the robot\u2019s enhanced structural integrity, its ability to conform to irregular surfaces, and its adaptability to environmental variations. The paper concludes with a discussion on the implications of these findings for the future design and operation of underwater serpentine robots, emphasizing the need for a balance between the effects of elastic modulus and workspace to maximize the benefits of flexible joints.<\/jats:p>","DOI":"10.1007\/s11370-024-00539-0","type":"journal-article","created":{"date-parts":[[2024,5,6]],"date-time":"2024-05-06T11:02:17Z","timestamp":1714993337000},"page":"445-464","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Design and architecture of a slender and flexible underwater robot"],"prefix":"10.1007","volume":"17","author":[{"given":"Jia-Lin","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jia-Ling","family":"Song","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3191-1953","authenticated-orcid":false,"given":"Ai-Rong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jia-Qiao","family":"Liang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fo-Bao","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jia-Jian","family":"Liang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ji-Yang","family":"Fu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bing-Cong","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,5,6]]},"reference":[{"issue":"4","key":"539_CR1","doi-asserted-by":"publisher","first-page":"567","DOI":"10.1108\/AA-03-2022-0058","volume":"42","author":"X Yang","year":"2022","unstructured":"Yang X, Zheng L, L\u00fc D, Wang J, Wang S, Su H, Wang Z, Ren L (2022) The snake-inspired robots: a review. 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