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Figure 6. Soft robot fishes in BCF-MPF propulsion mode: (A) a soft robot fish [29] ; and (B) a soft electronic fish [30] . BCF: Body and/or
caudal fin; MPF: median and/or paired fin.
Figure 7. A rigid-soft coupled robot fish in BCF-MPF propulsion mode [31] . BCF: Body and/or caudal fin; MPF: median and/or paired fin.
3. THE MOTION MECHANISM OF ROBOT FISHES
The study of the motion mechanism of robot fishes provides an in-depth understanding of the process by
which robot fishes obtain thrust. The results of this study can be utilized to improve the designs of robot
fishes. This enables robot fishes to achieve higher propulsion power and efficiency, bridging the swimming
