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This paper provides an outline of a new animatronic system, based on the technology of the flexible oscillating fin. The oscillating fin propulsion system was designed and constructed to be combined with a ship model. The system's feasibility has been confirmed by tank tests using the ship model. As a result, several advantages of the oscillating fin system have been found. A neural network was successfully applied for an identification of the ship model dynamics with the oscillating fin and its effectiveness was confirmed. The animatronic system is a computer-controlled biomechanically engineered model, rapidly gaining popularity throughout the world. We have developed aquatic robots with oscillating fins for the animatronics system to build a virtual aquarium. We have proposed an exhibition system for enhancing event spaces that includes an animatronic system for modern-day fish, coelacanths, and Cambrian-world creatures, able to swim under their own electric power.
Terada et al. (2004) studied this question.