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Yu et al. Intell Robot 2022;2:180-99 Intelligence & Robotics
DOI: 10.20517/ir.2022.10

Review Open Access

Designs, motion mechanism, motion coordination,

and communication of bionic robot fishes: a survey

1
1
1
Zhiwei Yu , Kai Li , Yu Ji , Simon X. Yang 2
1
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, Jiangsu,
China.
2
School of Engineering, University of Guelph, 50 Stone Road East, Guelph, ON N1G 2W1, Canada.
Correspondence to: Dr. Zhiwei Yu, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and
Astronautics, Nanjing 210000, Jiangsu, China. E-mail: yuzhiwei@nuaa.edu.cn
How to cite this article: Yu Z, Li K, Ji Y, Yang SX. Designs, motion mechanism, motion coordination, and communication of bionic
robot fishes: a survey. Intell Robot 2022;2:180-99. https://dx.doi.org/10.20517/ir.2022.10
Received: 22 Mar 2022 First Decision: 19 May 2022 Revised: 2 Jun 2022 Accepted: 27 Jun 2022 Published: 29 Jun 2022

Academic Editors: Jianjun Ni, Daqi Zhu Copy Editor: Jia-Xin Zhang Production Editor: Jia-Xin Zhang

Abstract
In the last few years, there have been many new developments and significant accomplishments in the research of
bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish,
prompting researchers to constantly develop innovative designs of various bionic robot fishes. In this paper, the
latest designs of robot fishes are presented in detail, distinguished by the propulsion mode. New robot fishes
mainly include soft robot fishes and rigid-soft coupled robot fishes. The latest progress in the study of the
swimming mechanism is analyzed on the basis of summarizing the main swimming theories of fish. The current
state-of-the-art research in the new field of motion coordination and communication of multiple robot fishes is
summarized. The general research trend in robot fishes is to utilize more efficient and robust methods to best
mimic real fish while exhibiting superior swimming performance. The current challenges and potential future
research directions are discussed. Various methods are needed to narrow the gap in swimming performance
between robot fishes and fish. This paper is a first step to bring together roboticists and marine biologists
interested in learning state-of-the-art research on bionic robot fishes.

Keywords: Bionic robot fish, motion mechanism, motion coordination, group communication

1. INTRODUCTION
Propellers are frequently used as actuators in conventional underwater robots, and their propulsion

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