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.
Review of research and control technology of underwater bionic robots.Intelligent Marine Technology and Systems, 1(1):1–28, 2023
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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.