In this article, we propose a soft eel robot design using soft pneumatic actuators that mimic eel muscles. Four pairs of soft actuators are used to construct the eel robot body. Pulse signals with suitable shifting phases are utilized to control delivery of compressed air to the actuators in sequence to create a sinusoidal wave from head to tail of the robot body. A model of hydrodynamic forces acting on an anguilliform swimmer when moving in fluid was built to estimate the thrust force generated by the robot at different tail beat frequencies. Experimental data revealed that the generated thrust force was positively correlated with the beat frequency. Measured data showed that swimming efficiency depended on both generated thrust force and body posture in situ . At the beat frequency of 1.25 Hz, and air pressure at three segments from head to tail of 65, 50, and 30 kPa, respectively, the eel robot body showed the best cost of transport (COT) of 19.21 with velocity of 10.5 cm/s (or 0.198 body length per second [BL/s]), compared to the other's values of operation frequency and air pressure. We also found that control shift
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