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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 5. Rigid-soft coupled robot fishes in MPF propulsion mode: (A) a robot fish with soft tissue and cartilages.[27]; and (B) bionic cownose ray robot fish[28]. MPF: Median and/or paired fin.

Intelligence & Robotics
ISSN 2770-3541 (Online)
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