Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

<table>The CAD model of the fish robot. The front part (approximately half) is a rigid haul and the rest part (the tail) is flexible joint of rubber and wooden support.</table>

Journal of Robotics

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Figure 4

Figure 4: Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish 