• bionic fin
• kinematic study
• magnetic mechanism

The focus of this study is on the challenges in underwater exploration specifically in terms of robotic mechanical structures and embodied intelligence. This thesis aims to contribute creative solutions to areas like propulsion, power efficiency, and maneuverability by presenting novel ideas that can be extended to real-world applications. The thesis has two parts containing the work on novel bionic fins: single joint fin and multiple joint fin. We proposed a trade-off in between traditional actuators and advanced functional materials by employing a magnetic mechanism based on permanent magnets driven by only one electric motor to decrease the total volume of the robot. Errors in the behaviors stem from magnetic interference between the permanent magnets and fabrication.