Tethered undulatory robots match free-swimming speeds at the surface but use less energy, and performance improves with submergence depth due to reduced wave drag.
Development of a novel robotic dolphin and its application to water quality monitoring.IEEE/ASME Transactions on Mechatronics, 22(5):2130–2140, 2017
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Tethering and depth of submergence affect the swimming performance of undulatory robots
Tethered undulatory robots match free-swimming speeds at the surface but use less energy, and performance improves with submergence depth due to reduced wave drag.