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We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward\/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.<\/jats:p>","DOI":"10.1177\/0278364902021010095","type":"journal-article","created":{"date-parts":[[2003,4,28]],"date-time":"2003-04-28T06:25:30Z","timestamp":1051511130000},"page":"849-859","source":"Crossref","is-referenced-by-count":23,"title":["Experimental Verification of Open-loop Control for an Underwater Eel-like Robot"],"prefix":"10.1177","volume":"21","author":[{"given":"Kenneth A.","family":"Mcisaac","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering University of Western Ontario London, Ontario Canada N6G 1H1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James P.","family":"Ostrowski","sequence":"additional","affiliation":[{"name":"General Robotics Automation, Sensing and Perception Laboratory (GRASP) University of Pennsylvania Philadelphia PA 19104"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2002,10,1]]},"reference":[{"key":"bibr1-0278364902021010095","volume-title":"Fish Locomotion.","author":"Blake R. 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