This paper is concerned with the design, construction, and control of a novel biomimetic robotic dolphin equipped with mechanical flippers based on an engineered propulsive model.

• 摘要研制了一种装配有机械鳍肢的新型仿生机器海豚系统。根据海豚典型的背腹式推进的特点，提出一种工程化的推进模型。