Precise motion control of underwater vehicles without mechanical noises is a technical issue Qn underwater observation . As a solution f()r the problem, we pay attentions to bio − mec } lanisms ofunderwater creatures , espccially ribbon − like fins being used fbr a 杭itude control . Bio − mechanisms of creatures are adapted to environnient as a result of evolution . If the motor control mechanismsof the creatures can be introduced into undcrwater robots , , there is a possibility that a high perforrnance actUator will be realized . In this resoarch
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