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From:  Designs, motion mechanism, motion coordination, and communication of bionic robot fishes: a survey
Designs, motion mechanism, motion coordination, and communication of bionic robot fishes: a survey

Figure 3. Soft robot fishes in BCF propulsion mode: (A) a robot fish with DEAs[20]; and (B) Flexi-Tuna[21]. BCF: Body and/or caudal fin; DEAs: dielectric elastomer actuators.

Intelligence & Robotics
ISSN 2770-3541 (Online)
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