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

Table 1

Time to swim 1.5 meter by the fish robot.

Test	Swimming time (s)
	Fixed joint	Flexible joint
1	7.0	4.7
2	6.8	5.5
3	7.4	5.5
4	6.8	5.0
5	7.0	5.2