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However, very few studies have focused on the performance\u2010oriented design of multijoint mechanisms enhanced with flexible fins, particularly regarding critical design factors such as the active\u2010joint ratio and dimension\u2010related stiffness distribution of the fin. To this aim, we developed a robotic tadpole by integrating a multijoint mechanism with a flexible fin and conduct a comprehensive investigation of its swimming performance with different tail configurations. A dynamic model with identified hydrodynamic parameters was established to predict propulsive performance. Numerous simulations and experiments were conducted to explore the impact of the active\u2010joint ratio and the dimension\u2010related stiffness distribution of the fin. The results reveal that (a) tails with different active\u2010joint ratios achieve their best performance at a small phase difference, while tails with a larger active\u2010joint ratio tend to perform worse than those with a smaller active\u2010joint ratio when a larger phase difference is used; (b) the optimal active\u2010joint ratio enables the robot to achieve superior performance in terms of swimming velocity and energy efficiency; and (c) with the same surface area, a longer fin with a wide leading edge and a narrow trailing edge can achieve higher swimming speeds with lower energy consumption. This work presents novel and in\u2010depth insights into the design of bio\u2010inspired underwater robots with compliant propulsion mechanisms.<\/jats:p>","DOI":"10.1002\/rob.22452","type":"journal-article","created":{"date-parts":[[2024,10,17]],"date-time":"2024-10-17T09:16:17Z","timestamp":1729156577000},"page":"607-624","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Performance\u2010Oriented Understanding and Design of a Robotic Tadpole: Lower Energy Cost, Higher Speed"],"prefix":"10.1002","volume":"42","author":[{"given":"Xu","family":"Chao","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong China"},{"name":"Department of Mechanical Engineering City University of Hong Kong Hong Kong China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Imran","family":"Hameed","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong China"},{"name":"Department of Mechanical Engineering City University of Hong Kong Hong Kong China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Navarro\u2010Alarcon","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xingjian","family":"Jing","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering City University of Hong Kong Hong Kong China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,10,17]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac6bd6"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009720622253"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd2971"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3049430"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.116963"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/abc494"},{"key":"e_1_2_10_8_1","first-page":"1","article-title":"Dynamics of Structures. 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