Design, Fabrication, and Swimming Performance of a Free-Swimming Tuna-Mimetic Robot

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="687985.fig.008a" src="https://static.hindawi.com/articles/jr/volume-2014/687985/figures/687985.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Fixed joint</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="687985.fig.008b" src="https://static.hindawi.com/articles/jr/volume-2014/687985/figures/687985.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Flexible joint</td></tr></table></td></tr></table>

<table>Connections of the caudal fin to the tail peduncle.</table>

Journal of Robotics

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Figure 8

Figure 8: Design, Fabrication, and Swimming Performance of a Free-Swimming Tuna-Mimetic Robot 