简介：Aroboticfishdrivenbyoscillatingfins,"CownoseRay-I",isdeveloped,whichisindorsoventrallyflattenedshapewithoutatail.Theroboticfishiscomposedofabodyandtwolateralfins.Athree-factorkinematicmodelisestablishedandusedinthedesignofamechanism.Bycontrollingthethreekinematicparameters,theroboticfishcanaccelerateandmaneuver.Forwardvelocityisdependentonthelargestamplitudeandthenumberofwavesinthefins,whiletherelativecontributionoffinbeatfrequencytotheforwardvelocityoftheroboticfishisdifferentfromtheusualresult.Ontheotherhand,experimentalresultsonmaneuveringshowthatphasedifferencehasastrongereffectonswervingthanthelargestamplitudetosomeextent.Inaddition,aspropulsionwavespassfromthetrailingedgetotheleadingedge,theroboticfishattainsabackwardvelocityof0.15m·s-1.

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