fig7
From: Designs, motion mechanism, motion coordination, and communication of bionic robot fishes: a survey
![Designs, motion mechanism, motion coordination, and communication of bionic robot fishes: a survey](https://image.oaes.cc/cc879c9c-1760-45d7-9d5b-3efe1b988275/4987.fig.7.jpg)
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.