A four-joint flexible underwater pisciform propulsion system is developed and the control flow chart is presented. 设计了四关节柔性水下仿鱼形推进器，给出了控制流程图，建立了运动学方程。
Finally, comparative experiments prove that this design is feasible for improving swimming stability of flexible multi-joint underwater pisciform propulsion system. 最后，通过比较实验证明了此方案对提高柔性多关节水下仿鱼形推进器的游动稳定性是可行的。
