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The article first presents the design of the robot. Next, the quasisteady model theory is used to establish the hydrodynamic force for modeling the deformable caudal fin. Furthermore, three deformation modes are studied and compared: the conventional nondeformable mode, the sine\u2010based mode, and the instantaneous mode. Finally, a series of extensive experiments are conducted to evaluate various performance metrics of this innovative untethered biomimetic robotic fish, including thrust, swimming speed, yaw stability, turning radius, and turning rate. The results demonstrate that the introduction of active deformation of the caudal fin significantly enhances the swimming performance in the aforementioned indices when compared to the conventional nondeformable mode. Notably, the instantaneous mode exhibits best performance in terms of thrust, swimming speed, turning radius, and turning rate, while the sine\u2010based mode demonstrates the best yaw stability. Consequently, this research contributes to the advancement of robotic fish design and the development of underwater biomimetic robots.<\/jats:p>","DOI":"10.1002\/aisy.202300276","type":"journal-article","created":{"date-parts":[[2023,9,9]],"date-time":"2023-09-09T01:43:22Z","timestamp":1694223802000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin"],"prefix":"10.1002","volume":"5","author":[{"given":"Yaohui","family":"Xu","sequence":"first","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"},{"name":"School of Computer Science and Control Engineering University of Chinese Academy of Sciences  Beijing 100049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bingbing","family":"Dong","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"},{"name":"Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology  Wuhan 430081 China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan 430081 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changzhen","family":"Zheng","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"},{"name":"College of Mechanical Engineering Guangxi University  Nanning 530004 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiyang","family":"Zuo","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"He","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3947-2916","authenticated-orcid":false,"given":"Fengran","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence Shenzhen Polytechnic  Shenzhen 518055 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,9,8]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-46870-8"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01379-1"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-018-0048-2"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0085"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-022-00201-4"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2006.0181"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1017\/jfm.2019.612"},{"key":"e_1_2_9_9_1","first-page":"1","volume-title":"Fish Physiology","author":"Lindsey C. 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