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These robots can improve animal farming conditions and preserve wildlife. This study proposes a muscle-like control for an underactuated robot in carangiform swimming mode. The artifact exploits a single DC motor with a non-blocking transmission system to convert the motor\u2019s oscillatory motion into the fishtail\u2019s oscillation. The transmission system combines a magnetic coupling and a wire-driven mechanism. The control strategy was inspired by central pattern generators (CPGs) to control the torque exerted on the fishtail. It integrates proprioceptive sensory feedback to investigate the adaptability to different contexts. A parametrized control law relates the reference target to the fishtail\u2019s angular position. Several tests were carried out to validate the control strategy. The proprioceptive feedback revealed that the controller can adapt to different environments and tail structure changes. The control law parameters variation accesses the robotic fish\u2019s multi-modal swimming. Our solution can vary the swimming speed of 0.08 body lengths per second (BL\/s), and change the steering direction and performance by an angular speed and turning curvature radius of 0.08 rad\/s and 0.25 m, respectively. Performance can be improved with design changes, while still maintaining the developed control strategy. This approach ensures the robot\u2019s maneuverability despite its underactuated structure. Energy consumption was evaluated under the robotic platform\u2019s control and design. Our bioinspired control system offers an effective, reliable, and sustainable solution for exploring and monitoring aquatic environments, while minimizing human risks and preserving the ecosystem. Additionally, it creates new and innovative opportunities for interacting with marine species. Our findings demonstrate the potential of bioinspired technologies to advance the field of marine science and conservation.<\/jats:p>","DOI":"10.1007\/s10846-024-02080-9","type":"journal-article","created":{"date-parts":[[2024,5,6]],"date-time":"2024-05-06T09:01:54Z","timestamp":1714986114000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0338-441X","authenticated-orcid":false,"given":"Gianluca","family":"Manduca","sequence":"first","affiliation":[]},{"given":"Gaspare","family":"Santaera","sequence":"additional","affiliation":[]},{"given":"Marco","family":"Miraglia","sequence":"additional","affiliation":[]},{"given":"Godfried","family":"Jansen\u00a0Van\u00a0Vuuren","sequence":"additional","affiliation":[]},{"given":"Paolo","family":"Dario","sequence":"additional","affiliation":[]},{"given":"Cesare","family":"Stefanini","sequence":"additional","affiliation":[]},{"given":"Donato","family":"Romano","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,5,6]]},"reference":[{"issue":"2","key":"2080_CR1","doi-asserted-by":"publisher","first-page":"63","DOI":"10.3390\/geosciences8020063","volume":"8","author":"L Mayer","year":"2018","unstructured":"Mayer, L., Jakobsson, M., Allen, G., Dorschel, B., Falconer, R., Ferrini, V., Lamarche, G., Snaith, H., Weatherall, P.: The nippon foundation-gebco seabed 2030 project: the quest to see the world\u2019s oceans completely mapped by 2030. 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