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.
Biomimetics: lessons from nature–an overview.Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 367(1893):1445–1486
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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.