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It is well known that tuna fish in the ocean can dynamically morph theirmedian fins to achieve optimal hydrodynamic performance, e.g. linearacceleration and maneuverability. In this study, based on the previous studiesabout the median fin's hydrodynamic effects focusing on tethered conditions, wecontinue to explore the hydrodynamic function of tuna morphing dorsal fin infree swimming conditions for better approaching real-life situations.Here, wedeveloped a tuna-inspired robotic fish platform that can swim independently inthree dimensions, equipped with a biomimetic morphing dorsal fin magneticallyattached to the robotic fish. Based on the free-swimming robotic fish platform,we investigated how the erected dorsal fin affects the speed, cost of transport(COT), and robotic fish's yaw angle at different frequencies and amplitudes.The erected dorsal fin plays a positive role in improving the yaw stability ofrobotic fish. However, it shows little influence on the speed and COT in ourtest. This remains to be further investigated in the future.

How Biomimetic Morphing Dorsal Fin Affects the Swimming Performance of a Free-swimming Tuna Robot