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al Mobuliform swimmers are inspiring novel approaches to the design of underwater vehicles. These swimmers, exemplified bymanta rays, present amodel for new classes of efficient, highly maneuverable, autonomous undersea vehicles. To improve our understanding of the unsteady propulsion mechanisms used by these swimmers, we report detailed studies of the performance of robotic swimmers that mimic aspects of the animal propulsive mechanisms. We highlight the importance of the undulatory aspect of producing efficientmanta ray propulsion and show that there is a strong interaction between the propulsive performance and the flexibility of the actuating surfaces.

Bioinspired Propulsion Mechanisms Based on Manta Ray Locomotion