section_path: Control robotics areas/Locomotion/Flying/Swimming (Piscine)
section_name: Swimming (Piscine)
paragraph_text: Swimming (Piscine)
  
  It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%. Furthermore, they can accelerate and maneuver far better than any man-made boat or submarine, and produce less noise and water disturbance. Therefore, many researchers studying underwater robots would like to copy this type of locomotion. Notable examples are the Robotic Fish G9, and Robot Tuna built to analyze and mathematically model thunniform motion. The Aqua Penguin, copies the streamlined shape and propulsion by front "flippers" of penguins. The Aqua Ray and Aqua Jelly emulate the locomotion of manta ray, and jellyfish, respectively.
  
  In 2014, iSplash -II was developed as the first robotic fish capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. This build attained swimming speeds of 11.6BL/s (i.e. 3.7 m/s). The first build, iSplash -I (2014) was the first robotic platform to apply a full-body length carangiform swimming motion which was found to increase swimming speed by 27% over the traditional approach of a posterior confined waveform.