In general, robots with smaller lengths have higher resonant frequencies and faster relative speeds. The relationships between driving frequency and relative speed for robots with lengths of 10, 15, 20, 25, and 30 mm are shown in Fig. 3C driven by a peak-to-peak voltage of 200 V to achieve measured maximum speeds of 20 BL/s (20 cm/s), 8 BL/s (12 cm/s), 4.05 BL/s (8.1 cm/s), 2.4 BL/s (6 cm/s), and 1.33 BL/s (4 cm/s), respectively
The author concluded from the experimental data that there is a direct relationship between driving frequency, body length, and speed. Shorter bodies and greater frequency yields faster speeds while longer bodies and lesser frequency yields slower speeds.