This prototype robotic "fish" is actually modeled on a family of ancient marine reptiles known as Ichthyosaurus.

This robot has a single large motor driving its tail. There are two degrees-of-freedom (DOF) per front fin, which provide stability. The head rotates to aid orientation, and the jaw is actuated for animation purposes, giving the robot a total of seven DOF.

This original sculpture was molded in silicon and a skin will be cast in urethane rubber to provide a water-tight seal as well as create the overall look and asthetic.

The video below shows the mechanical action of the tail during an early test phase.

This prototype robotic "fish" is actually modeled on a family of ancient marine reptiles known as Ichthyosaurus.

This robot has a single large motor driving its tail. There are two degrees-of-freedom (DOF) per front fin, which provide stability. The head rotates to aid orientation, and the jaw is actuated for animation purposes, giving the robot a total of seven DOF.

This original sculpture was molded in silicon and a skin will be cast in urethane rubber to provide a water-tight seal as well as create the overall look and asthetic.

The video below shows the mechanical action of the tail during an early test phase.

This prototype robotic "fish" is actually modeled on a family of ancient marine reptiles known as Ichthyosaurus.

This robot has a single large motor driving its tail. There are two degrees-of-freedom (DOF) per front fin, which provide stability. The head rotates to aid orientation, and the jaw is actuated for animation purposes, giving the robot a total of seven DOF.

This original sculpture was molded in silicon and a skin will be cast in urethane rubber to provide a water-tight seal as well as create the overall look and asthetic.

The video below shows the mechanical action of the tail during an early test phase.

This prototype robotic "fish" is actually modeled on a family of ancient marine reptiles known as Ichthyosaurus.

This robot has a single large motor driving its tail. There are two degrees-of-freedom (DOF) per front fin, which provide stability. The head rotates to aid orientation, and the jaw is actuated for animation purposes, giving the robot a total of seven DOF.

This original sculpture was molded in silicon and a skin will be cast in urethane rubber to provide a water-tight seal as well as create the overall look and asthetic.

The video below shows the mechanical action of the tail during an early test phase.

This prototype robotic "fish" is actually modeled on a family of ancient marine reptiles known as Ichthyosaurus.

This robot has a single large motor driving its tail. There are two degrees-of-freedom (DOF) per front fin, which provide stability. The head rotates to aid orientation, and the jaw is actuated for animation purposes, giving the robot a total of seven DOF.