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wear. Cavitation damage can also occur to the tail fins of powerful swimming marine animals, such as dolphins and tuna. Cavitation is more likely to occur near the surface of the ocean, where the ambient water pressure is relatively low. Even if they have the power to swim faster, dolphins may have to restrict their speed because collapsing cavitation bubbles on their tail are too painful. Cavitation also slows tuna, but for a different reason. Unlike dolphins, these fish do not feel the bubbles, because they have bony fins without nerve endings. Nevertheless, they cannot swim faster because the cavitation bubbles create a vapor film around their fins that limits their speed. Lesions have been found on tuna that are consistent with cavitation damage.
903:
1058:, which has been often disregarded in science textbooks, "that fins and (later) limbs evolved from the gills of an extinct vertebrate". Gaps in the fossil record had not allowed a definitive conclusion. In 2009, researchers from the University of Chicago found evidence that the "genetic architecture of gills, fins and limbs is the same", and that "the skeleton of any appendage off the body of an animal is probably patterned by the developmental genetic program that we have traced back to formation of gills in sharks". Recent studies support the idea that gill arches and paired fins are serially homologous and thus that fins may have evolved from gill tissues.
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1065:(four-legged animals) evolved from fish and made their first forays onto land 400 million years ago. They used paired pectoral and pelvic fins for locomotion. The pectoral fins developed into forelegs (arms in the case of humans) and the pelvic fins developed into hind legs. Much of the genetic machinery that builds a walking limb in a tetrapod is already present in the swimming fin of a fish.
315:. There has been much speculation about the function of these finlets. Research done in 2000 and 2001 by Nauen and Lauder indicated that "the finlets have a hydrodynamic effect on local flow during steady swimming" and that "the most posterior finlet is oriented to redirect flow into the developing tail vortex, which may increase thrust produced by the tail of swimming mackerel".
1387:
three-dimensional kinematic studies and correlated hydrodynamic analyses, as the location of the locomotor surface can be known accurately. And, individual components of a natural motion (such as outstroke vs. instroke of a flapping appendage) can be programmed separately, which is certainly difficult to achieve when working with a live animal."
323:
techniques were able to generate "the first instantaneous three-dimensional views of wake structures as they are produced by freely swimming fishes". They found that "continuous tail beats resulted in the formation of a linked chain of vortex rings" and that "the dorsal and anal fin wakes are rapidly
1386:
Robotic fish offer some research advantages, such as the ability to examine part of a fish design in isolation from the rest, and variance of a single parameter, such as flexibility or direction. Researchers can directly measure forces more easily than in live fish. "Robotic devices also facilitate
346:
Once motion has been established, the motion itself can be controlled with the use of other fins. Boats control direction (yaw) with fin-like rudders, and roll with stabilizer and keel fins. Airplanes achieve similar results with small specialised fins that change the shape of their wings and tail
304:
can be a problem with high power applications, resulting in damage to propellers or turbines, as well as noise and loss of power. Cavitation occurs when negative pressure causes bubbles (cavities) to form in a liquid, which then promptly and violently collapse. It can cause significant damage and
173:) use a number of rotating fins, also called foils, wings, arms or blades. Propellers use the fins to translate torquing force to lateral thrust, thus propelling an aircraft or ship. Turbines work in reverse, using the lift of the blades to generate torque and power from moving gases or water.
318:
Fish use multiple fins, so it is possible that a given fin can have a hydrodynamic interaction with another fin. In particular, the fins immediately upstream of the caudal (tail) fin may be proximate fins that can directly affect the flow dynamics at the caudal fin. In 2011, researchers using
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1038:"Birds in a way resemble fishes. For birds have their wings in the upper part of their bodies and fishes have two fins in the front part of their bodies. Birds have feet on their underpart and most fishes have a second pair of fins in their under-part and near their front fins."
1106:"to trace the evolution of pelvic fin muscles to find out how the load-bearing hind limbs of the tetrapods evolved." Further research at the University of Chicago found bottom-walking lungfishes had already evolved characteristics of the walking gaits of terrestrial tetrapods.
831:. For this manoeuvrability is more important than straight line speed, so coral reef fish have developed bodies which optimize their ability to dart and change direction. They outwit predators by dodging into fissures in the reef or playing hide and seek around coral heads.
858:, have evolved bodies which are deep and laterally compressed like a pancake, and will fit into fissures in rocks. Their pelvic and pectoral fins are designed differently, so they act together with the flattened body to optimise maneuverability. Some fishes, such as
1168:
and tail in just the right place and with just the right hydrological design. These structures are all the more remarkable because they evolved from nothing — the ancestral terrestrial reptile had no hump on its back or blade on its tail to serve as a
4404:
1341:. The fish were designed to be autonomous, swimming around and avoiding obstacles like real fish. Their creator claimed that he was trying to combine "the speed of tuna, acceleration of a pike, and the navigating skills of an eel".
827:. Open water fishes are usually built for speed, streamlined like torpedoes to minimise friction as they move through the water. Reef fish operate in the relatively confined spaces and complex underwater landscapes of
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further evolved along independent paths into flying wings. Even with flying wings there are many similarities with walking legs, and core aspects of the genetic blueprint of the pectoral fin have been retained.
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in the case of cetaceans. Fish tails are usually vertical and move from side to side. Cetacean flukes are horizontal and move up and down, because cetacean spines bend the same way as in other mammals.
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1145:. What had become walking limbs in cetaceans and seals evolved further, independently in a reverse form of convergent evolution, back to new forms of swimming fins. The forelimbs became
311:
fishes (tuna, mackerel and bonito) are particularly high-performance swimmers. Along the margin at the rear of their bodies is a line of small rayless, non-retractable fins, known as
3998:
1129:
About 200 million years ago the first mammals appeared. A group of these mammals started returning to the sea about 52 million years ago, thus completing a circle. These are the
717:. "The researchers found that males clearly preferred females with a larger pelvic fin and that pelvic fins grew in a more disproportionate way than other fins on female fish."
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2579:"Ergebnisse der Forschungsreisen Prof. E. Stromers in den Wüsten Ägyptens. II. Wirbeltier-Reste der Baharije-Stufe (unterstes Cenoman). 3. Das Original des Theropoden
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Zamparo P, Pendergast DR, Termin A, Minetti AE (March 2006). "Economy and efficiency of swimming at the surface with fins of different size and stiffness".
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3730:
Martill D.M. (1993). "Soupy
Substrates: A Medium for the Exceptional Preservation of Ichthyosaurs of the Posidonia Shale (Lower Jurassic) of Germany".
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by surgically transplanting muscles from frog legs to the robot and then making the robot swim by pulsing the muscle fibers with electricity.
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are ancient reptiles that resembled dolphins. They first appeared about 245 million years ago and disappeared about 90 million years ago.
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when moved, the lift of the fin sets water or air in motion and pushes the fin in the opposite direction. Aquatic animals get significant
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fibers that work "like riggings that stabilize a ship's mast", and stiffen dynamically as the shark swims faster to control roll and yaw.
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studies of underwater robots which attempt to emulate the locomotion of aquatic animals. An example is the Robot Tuna built by the
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1021:(1) pectoral fins (paired), (2) pelvic fins (paired), (3) dorsal fin, (4) adipose fin, (5) anal fin, and (6) caudal (tail) fin.
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1734:"Locomotion in scombrid fishes: visualization of flow around the caudal peduncle and finlets of the Chub mackerel
1141:. About 23 million years ago another group of bearlike land mammals started returning to the sea. These were the
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367:
3369:"Behavioral evidence for the evolution of walking and bounding before terrestriality in sarcopterygian fishes"
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Chapter 9: Radiation combined with conduction and convection at boundaries, pp.335–370. Taylor & Francis.
1164:"This sea-going reptile with terrestrial ancestors converged so strongly on fishes that it actually evolved a
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with means to maneuver and control their boards. Contemporary surfboards often have a centre fin and two
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4897:
4733:
3541:"More DNA support for a Cetacea/Hippopotamidae clade: the blood-clotting protein gene gamma-fibrinogen"
1401:
320:
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3096:"Embryonic origin and serial homology of gill arches and paired fins in the skate, Leucoraja erinacea"
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1133:(whales, dolphins and porpoises). Recent DNA analysis suggests that cetaceans evolved from within the
3973:
2587:
Abhandlungen der Königlich
Bayerischen Akademie der Wissenschaften, Mathematisch-physikalische Klasse
703:
In biology, fins can have an adaptive significance as sexual ornaments. During courtship, the female
1543:
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of aquatic animals can be remarkably effective. It has been calculated that some fish can achieve a
55:
is a thin component or appendage attached to a larger body or structure. Fins typically function as
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Fish are the ancestors of all mammals, reptiles, birds and amphibians. In particular, terrestrial
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entrained by the caudal fin wake, approximately within the timeframe of a subsequent tail beat".
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that provide lift or thrust, or provide the ability to steer or stabilize motion in water or air.
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1581:
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2019:
Fish, FE; Lauder, GV (2006). "Passive and active flow control by swimming fishes and mammals".
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43:
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1858:"Locomotion in scombrid fishes: morphology and kinematics of the finlets of the Chub mackerel
846:, have evolved so they can act as brakes and allow complex maneuvers. Many reef fish, such as
67:, or provide the ability to steer or stabilize motion while traveling in water, air, or other
5051:
3511:"Scientists find missing link between the dolphin, whale and its closest relative, the hippo"
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4093:"Swimming hydrodynamics: ten questions and the technical approaches needed to resolve them"
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3015:"Shared developmental mechanisms pattern the vertebrate gill arch and paired fin skeletons"
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Proceedings of the 21st annual conference on
Computer graphics and interactive techniques
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efficiency greater than 90%. Fish can accelerate and maneuver much more effectively than
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2142:, Volume 7: Locomotion, WS Hoar and DJ Randall (Eds) Academic Press. Page 240–308.
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797:, rather like the tail fin of a fish, add thrust and efficiency to the kicks of a
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4857:
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4188:
4159:
Blake, Robert
William (2004). "Fish functional design and swimming performance".
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3624:"Some functional and structural characteristics of cetacean flippers and flukes"
2067:
Ship Motion
Control: Course Keeping and Roll Stabilisation Using Rudder and Fins
1484:
1368:, respectively emulating the locomotion of manta rays, jellyfish and barracuda.
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500:
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displayed three robotic fish created by the computer science department at the
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4227:"Stabilization Mechanism in Swimming Odontocete Cetaceans by Phased Movements"
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Your inner fish: A journey into the 3.5 billion year history of the human body
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of
Germany, copies the streamlined shape and propulsion by front flippers of
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3879:"Merlin Entertainments tops up list of London attractions with aquarium buy"
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and control the subsequent motion. Fish and other aquatic animals, such as
60:
4500:
4366:"Fish locomotion: kinematics and hydrodynamics of flexible foil-like fins"
4036:
3568:
3462:
3294:
Cole, NJ; Hall, TE; Don, EK; Berger, S; Boisvert, CA; et al. (2011).
3272:
Lungfish
Provides Insight to Life On Land: 'Humans Are Just Modified Fish'
2900:"Wing design and scaling of flying fish with regard to flight performance"
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1995:
1978:
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37:
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4308:"Morphology and experimental hydrodynamics of fish fin control surfaces"
3112:
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2578:
2129:"Locomotion by scombrid fishes: Hydromechanics, morphology and behavior"
376:
4830:
4773:
4743:
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1979:"Balancing requirements for stability and maneuverability in cetaceans"
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Asymmetric stabilizing fins impart spin to this Soviet artillery rocket
546:
are sometimes used. Static fins have also been used for one satellite,
301:
150:
103:
99:
4289:
4268:
1788:"Three-dimensional analysis of finlet kinematics in the Chub mackerel
1552:
870:, rely on pectoral fins for swimming and hardly use tail fins at all.
4907:
3252:
Gaining Ground, Second
Edition: The Origin and Evolution of Tetrapods
2517:"Male mate choice scales female ornament allometry in a cichlid fish"
2515:
Baldauf, SA; Bakker, TCM; Herder, F; Kullmann, H; Thünken, T (2010).
1372:
1318:
1114:
1080:. Bones considered to correspond with each other have the same color.
990:
981:
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917:
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162:
157:. Fins can also generate thrust if they are rotated in air or water.
122:
91:
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243:
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4748:
4273:, a close relative of the tunas (family Scombridae) II. Kinematics"
3675:"From Land to Water: the Origin of Whales, Dolphins, and Porpoises"
3345:
A small step for lungfish, a big step for the evolution of walking"
1416:
1380:
1189:
1149:
and the hind limbs became a tail terminating in two fins, called a
1142:
1130:
1103:
1084:
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use enlarged pectoral fins to glide above the surface of the water.
889:
863:
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409:
308:
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107:
83:
4419:
Muscle activity and hydrodynamic function of pelvic fins in trout
3821:. Human Centred Robotics Group at Essex University. Archived from
3454:
984:
use their pectoral and pelvic fins to walk along the ocean bottom.
659:
332:
27:
Thin component or appendage attached to a larger body or structure
4867:
1353:
737:
704:
535:
527:
469:
158:
1321:, and produce less water disturbance and noise. This has led to
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developed fins (or flippers) very similar to fish (or dolphins).
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4481:"Artificial fishes: Physics, locomotion, perception, behavior"
2633:
939:
In recent years, car fins have evolved into highly functional
493:
441:
4266:
1349:
1088:
In a parallel but independent evolution, the ancient reptile
969:
have pectoral and pelvic fins optimised for flattened bodies.
573:
425:
4269:"Swimming performance studies on the eastern Pacific bonito
4267:
Hawkins, JD; Sepulveda, CA; Graham, JB; Dickson, KA (2003).
3296:"Development and Evolution of the Muscles of the Pelvic Fin"
3072:
Wings, legs, and fins: How do new organs arise in evolution?
2677:
Yamaguchi H, Shidara F, Naraki N, Mohri M (September 1995).
360:
192:
Fish get thrust moving vertical tail fins from side to side.
5021:
4889:
4702:
3672:
3177:
2676:
2514:
2209:
Lingham; Soliar, T (2005). "Dorsal fin in the white shark,
1915:
1638:
Gas
Turbines: A Handbook of Air, Land, and Sea Applications
1326:
1314:
547:
523:
432:
366:
Fish, boats and airplanes need control of three degrees of
338:
170:
79:
4645:
Many examples and images, with references to robotic fish.
3673:
Thewissen, JGM; Cooper, LN; George, JC; Bajpai, S (2009).
2679:"Maximum sustained fin-kick thrust in underwater swimming"
1916:
Flammang, BE; Lauder, GV; Troolin, DR; Strand, TE (2011).
3851:
1194:
4508:"Stability versus maneuverability in aquatic locomotion"
834:
The pectoral and pelvic fins of many reef fish, such as
4455:"Biorobotic fins for investigations of fish locomotion"
3581:
341:, to generate thrust and control the subsequent motion.
153:
is used, but some aquatic animals generate thrust from
1516:"Review of Fish Swimming Modes for Aquatic Locomotion"
2991:
Evolution Of Fins And Limbs Linked With That Of Gills
2741:
15th Australasian Fluid Mechanics Conference, Sydney.
1580:
Helfman G, Collette BB, Facey DE and Bowen BW (2009)
1513:
110:, to achieve stability and refine their maneuvering.
3753:
Eight Little Piggies: Reflections in Natural History
3500:
University of California. Updated 29 September 2005.
3366:
3094:
Sleight, Victoria A; Gillis, J Andrew (2020-11-17).
4020:"A Swimming Robot Actuated by Living Muscle Tissue"
3367:King, HM; Shubin, NH; Coates, MI; Hale, ME (2011).
2755:
2448:pp. 332–333, Marshall Cavendish Corporation, 2000.
207:
get thrust moving horizontal tail fins up and down.
3428:"Fossils, genes and the evolution of animal limbs"
3425:
149:by moving fins back and forth in water. Often the
3732:Kaupia – Darmstädter Beiträge zur Naturgeschichte
3293:
1668:Franc, Jean-Pierre and Michel, Jean-Marie (2004)
1582:"Functional morphology of locomotion and feeding"
1177:said the ichthyosaur was his favorite example of
1137:, and that they share a common ancestor with the
713:, displays a large and visually arresting purple
73:increase surface areas for heat transfer purposes
5064:
3012:
2872:
4453:Tangorra JL, CEsposito CJ and Lauder GV (2009)
4224:
4212:Breder, CM (1926). "The locomotion of fishes".
3791:
3373:Proceedings of the National Academy of Sciences
3019:Proceedings of the National Academy of Sciences
2877:. San Diego: Academic Press. pp. 138–139.
2288:Basics of Missile Guidance and Space Techniques
1036:, and made the following prophetic comparison:
698:
337:Fins are used by aquatic animals, such as this
267:Cavitation damage is evident on this propeller.
4024:Journal of NeuroEngineering and Rehabilitation
1514:Sfakiotakis, M; Lane, DM; Davies, JBC (1999).
1054:There is an old theory, proposed by anatomist
219:Stingrays get thrust from large pectoral fins.
4679:
4561:Robotic fish to monitor pollution in harbours
4305:
3870:
3796:. Institute of Field Robotics. Archived from
3724:
3093:
2340:"Computation of Flows Past Grid Fin Missiles"
2208:
2093:
2091:
1509:
1507:
1505:
1503:
1102:in Australia used primitive but still living
1028:Aristotle recognised the distinction between
102:. As they swim, they use other fins, such as
4363:
3930:Bionic penguins fly through water... and air
3819:"Robotic fish powered by Gumstix PC and PIC"
2818:
1785:
1731:
1072:Comparison between A) the swimming fin of a
94:, actively propel and steer themselves with
3503:
2751:
2749:
2747:
2731:Hydrodynamic Performance of a Surfboard Fin
2213:: A dynamic stabilizer for fast swimming".
1855:
353:Specialised fins are used to control motion
4686:
4672:
3974:The AquaJelly Robotic Jellyfish from Festo
3538:
2697:. Archived from the original on 2011-08-11
2088:
2018:
1500:
5042:Tradeoffs for locomotion in air and water
4693:
4523:
4436:
4288:
4045:
4035:
4017:
3996:Lightweight robots: Festo's flying circus
3772:
3693:
3599:
3558:
3402:
3392:
3321:
3311:
3153:"Primordial Fish Had Rudimentary Fingers"
3129:
3111:
3048:
3038:
3013:Gillis, JA; Dahn, RD; Shubin, NH (2009).
2961:
2567:
2550:
2540:
2493:Female fish flaunt fins to attract a mate
2430:
1994:
1941:
1542:
923:In some Asian countries shark fins are a
746:, displays her visually arresting purple
610:
4225:Fish, FE; Peacock, JE; Rohr, JJ (2002).
3426:Shubin, N; Tabin, C; Carroll, S (1997).
2943:"Understanding nature—form and function"
2854:Aerodynamics of aftermarket rear spoiler
2821:"Shark utilization, marketing and trade"
2744:
2121:
2060:
2058:
1188:
1083:
1067:
1010:
556:Static tail fins are used as stabilizers
392:
382:The dorsal fin of a white shark contain
331:
36:
4414:
4018:Huge Herr, D. Robert G (October 2004).
2792:
2790:
2573:
1918:"Volumetric imaging of fish locomotion"
1697:
1695:
1664:
1662:
1449:(first ed.). Osprey. p. 131.
1016:Aquatic animals typically use fins for
911:allow surfers to maneuver their boards.
14:
5065:
4211:
4090:
3584:"Molecular Phylogeny of the Carnivora"
3491:Vertebrate flight: The three solutions
2759:Pisces Guide to Caribbean Reef Ecology
2467:Species Spotlight: Atlantic Sailfish (
2191:Page 391, Tata McGraw-Hill Education.
2110:Page 2–3, Princeton University Press.
2100:Steady Aircraft Flight and Performance
2041:10.1146/annurev.fluid.38.050304.092201
1701:
1574:
1329:, to analyze and mathematically model
542:and shaped like small wings, although
4667:
4643:Computational fluid dynamics tutorial
4505:
4158:
3889:from the original on 21 December 2016
3876:
3560:10.1093/oxfordjournals.molbev.a025790
2940:
2343:AVT Symposium on Missile Aerodynamics
2055:
1444:
786:in the 1950s were largely decorative.
4512:Integrated and Computational Biology
3775:"What is the market for robot fish?"
3582:Flynn, John J.; et al. (2005).
2897:
2787:
1976:
1692:
1659:
136:
113:The fins on the tails of cetaceans,
4425:The Journal of Experimental Biology
4277:The Journal of Experimental Biology
3836:
3532:
2419:Page 62, MotorBooks International.
1983:Integrative and Comparative Biology
1648:Pages 1–23, Butterworth-Heinemann.
1618:Pages 1–28, Butterworth-Heinemann.
1523:IEEE Journal of Oceanic Engineering
892:add thrust to the kicks of a human
24:
4246:10.1111/j.1748-7692.2003.tb01318.x
4151:
3844:"Robotic fish make aquarium debut"
2921:10.1111/j.1469-7998.1990.tb04009.x
823:are often shaped differently from
615:Engineering fins are also used as
25:
5094:
4542:
3854:. 10 October 2005. Archived from
3641:, University of California Press.
2807:Florida Museum of Natural History
2728:Brandner PA and Walker GJ (2004)
2385:Fin: Function in aircraft engines
327:
4782:
4615:
4600:
4585:
4570:
4555:
4364:Lauder, GV; Madden, PGA (2007).
4306:Lauder, GV; Drucker, EG (2004).
4181:10.1111/j.0022-1112.2004.00568.x
2873:Bertelsen E, Pietsch TW (1998).
2338:Khalid M, Sun Y and Xu H (1998)
2021:Annual Review of Fluid Mechanics
1704:"Dolphins swim so fast it hurts"
1702:Brahic, Catherine (2008-03-28).
1615:Marine Propellers and Propulsion
1593:The Diversity of Fishes: Biology
1288:
1272:
1256:
1240:
1221:
989:
974:
958:
932:
916:
901:
882:
776:
755:
729:
673:
658:
639:
599:Conventional "planar" fins on a
592:
580:
562:
492:
477:
462:
440:
424:
408:
375:
359:
274:
260:
242:
230:
212:
197:
185:
4651:University of British Columbia.
4621:Evolution of the Surfboard Fin
4352:from the original on 2020-10-03
4255:from the original on 2017-02-28
4137:from the original on 2019-12-06
4084:
4062:
4011:
3989:
3967:
3945:
3923:
3908:For Festo, Nature Shows the Way
3901:
3811:
3785:
3766:
3741:
3713:from the original on 2020-07-31
3666:
3661:University of California Museum
3644:
3639:Whales, Dolphins, and Porpoises
3616:
3575:
3546:Molecular Biology and Evolution
3484:
3419:
3360:
3338:
3287:
3265:
3237:
3191:
3168:
3146:
3087:
3065:
3006:
2984:
2934:
2891:
2866:
2846:
2812:
2776:from the original on 2023-12-16
2722:
2670:
2627:
2597:
2508:
2486:
2459:
2400:
2378:
2357:Thermal Radiation Heat Transfer
2348:
2332:
2321:Page 50, Periscope Publishing.
2302:
2279:
2249:
2202:
2172:
2153:
2011:
1969:
1958:from the original on 2016-03-04
1909:
1898:from the original on 2020-10-01
1869:Journal of Experimental Biology
1849:
1838:from the original on 2020-06-14
1786:Nauen, JC; Lauder, GV (2001b).
1779:
1768:from the original on 2020-08-07
1742:Journal of Experimental Biology
1732:Nauen, JC; Lauder, GV (2001a).
1725:
1714:from the original on 2020-11-09
1197:built a robotic catfish called
4479:Tu X and Terzopoulos D (1994)
4466:Intelligent Robots and Systems
4315:Journal of Oceanic Engineering
2354:Siegel R and Howell JR (2002)
1856:Nauen, JC; Lauder, GV (2000).
1629:
1606:
1478:
1463:
1438:
767:may have used its dorsal fin (
435:limits roll and sideways drift
179:Moving fins can provide thrust
75:, or simply as ornamentation.
13:
1:
4187:Blake, Robert William (1983)
4081:/ Retrieved 22 November 2012.
3877:Walsh, Dominic (3 May 2008).
3663:. Retrieved 27 November 2012.
3180:University of Chicago Press.
2825:FAO Fisheries Technical Paper
2809:. Retrieved 22 November 2012.
2397:. Retrieved 22 November 2012.
2291:Page 24, Wildside Press LLC.
1497:. Retrieved 24 November 2012.
1475:. Retrieved 24 November 2012.
1432:
736:During courtship, the female
633:Fins can regulate temperature
510:Stabilising fins are used as
293:develops around the tail fin.
3517:. 2005-01-25. Archived from
3313:10.1371/journal.pbio.1001168
3254:, Indiana University Press.
2756:William S. Alevizon (1993).
2409:Modern Motorcycle Technology
2308:Compon-Hall, Richard (2004)
2097:McClamroch, N Harris (2011)
1207:unmanned underwater vehicles
1076:and B) the walking leg of a
1006:
699:Ornamentation and other uses
7:
2311:Submarines at War 1939–1945
2169:Retrieved 22 November 2012.
1591:Chapter 8, pp. 101–116. In:
1390:
1379:robotic fish with a living
1327:Institute of Field Robotics
1184:
619:to regulate temperature in
42:Fins typically function as
10:
5099:
4898:Flying and gliding animals
4734:Fin and flipper locomotion
3247:Chapter 6, pages 187–260,
2863:University Malaysia Pahang
2616:MotorBooks International.
2476:December 17, 2010, at the
2165:November 25, 2011, at the
1671:Fundamentals of Cavitation
1495:Merriam-Webster dictionary
1402:Fin and flipper locomotion
793:Reshaping human feet with
522:, and at the rear of some
141:Foil shaped fins generate
82:as a means of locomotion.
29:
5009:
4948:
4888:
4791:
4780:
4709:
4614:
4599:
4584:
4569:
4554:
4549:
4393:10.1007/s00348-007-0357-4
4120:10.1007/s00348-009-0765-8
4069:How Biomechatronics Works
3747:Gould, Stephen Jay (1993
3695:10.1007/s12052-009-0135-2
3601:10.1080/10635150590923326
3539:Gatesy, J. (1 May 1997).
3243:Clack, Jennifer A (2012)
2714:: CS1 maint: unfit URL (
2648:10.1007/s00421-005-0075-7
2483:. Retrieved 1 April 2012.
2438:Aquatic Life of the World
1595:, John Wiley & Sons.
1287:
1271:
1255:
1239:
1220:
1215:
771:) as a courtship display.
283:Drawing by Dr Tony Ayling
3084:, University of Chicago.
2542:10.1186/1471-2148-10-301
2521:BMC Evolutionary Biology
2406:Clarke, Massimo (2010)
1447:A Dictionary of Aviation
1445:Wragg, David W. (1973).
1335:Sea Life London Aquarium
1113:, the pectoral limbs of
1109:In a classic example of
1098:In 2011, researchers at
743:Pelvicachromis taeniatus
710:Pelvicachromis taeniatus
687:to cool down or to herd
289:may influence the way a
249:Compressor fins (blades)
71:. Fins are also used to
4335:10.1109/joe.2004.833219
4161:Journal of Fish Biology
3651:The evolution of whales
3394:10.1073/pnas.1118669109
3040:10.1073/pnas.0810959106
2581:Spinosaurus aegyptiacus
2395:Encyclopædia Britannica
2160:Ship's movements at sea
1881:10.1242/jeb.203.15.2247
1796:The Biological Bulletin
1754:10.1242/jeb.204.13.2251
1356:. Festo also developed
538:. These are typically
5037:Terrestrial locomotion
4981:Evolution of cetaceans
4976:Origin of avian flight
4961:Evolution of tetrapods
4506:Weihs, Daniel (2002).
4468:, pages: 2120–2125. E-
4421:(Oncorhynchus mykiss)"
4091:Lauder, G. V. (2011).
2941:Moore, John A (1988).
2875:Encyclopedia of Fishes
2258:Bow Hunting Whitetails
2211:Carcharodon carcharias
2064:Perez, Tristan (2005)
1934:10.1098/rsbl.2011.0282
1635:Soares, Claire (2008)
1210:
1171:
1095:
1091:Ichthyosaurus communis
1081:
1041:
1023:
611:Temperature regulation
401:
343:
78:Fins first evolved on
48:
5078:Watercraft components
5052:Undulatory locomotion
5001:Homologous structures
4501:10.1145/192161.192170
4373:Experiments in Fluids
4234:Marine Mammal Science
4100:Experiments in Fluids
4037:10.1186/1743-0003-1-6
3792:Witoon Juwarahawong.
3174:Hall, Brian K (2007)
2819:Vannuccini S (1999).
2636:Eur. J. Appl. Physiol
2603:David, Dennis (2001)
2583:nov. gen., nov. spec"
2285:Hobbs, Marvin (2010)
2255:Vujic, Dragan (2007)
2215:Journal of Morphology
2178:Rana and Joag (2001)
1612:Carlton, John (2007)
1192:
1162:
1087:
1071:
1034:homologous structures
1026:
1014:
396:
335:
86:are used to generate
40:
4996:Analogous structures
4991:Convergent evolution
4525:10.1093/icb/42.1.127
4415:Standen, EM (2009).
3165:, 23 September 2008.
2963:10.1093/icb/28.2.449
2469:Istiophorus albicans
2268:Page 17, iUniverse.
1375:at MIT prototyped a
1305:The use of fins for
1179:convergent evolution
1111:convergent evolution
1047:De incessu animalium
32:Fin (disambiguation)
30:For other uses, see
5047:Rotating locomotion
4986:Comparative anatomy
4660:, 19 November 2008.
4385:2007ExFl...43..641L
4327:2004IJOE...29..556L
4173:2004JFBio..65.1193B
4112:2011ExFl...51...23L
3952:Festo AquaRay Robot
3918:Control Engineering
3885:. Times of London.
3858:on 26 November 2020
3749:"Bent Out of Shape"
3447:1997Natur.388..639S
3385:2011PNAS..10821146K
3379:(52): 21146–21151.
3357:, 13 December 2011.
3245:"From fins to feet"
3113:10.7554/eLife.60635
3031:2009PNAS..106.5720G
2683:Undersea Hyperb Med
2533:2010BMCEE..10..301B
2481:littoralsociety.org
2181:Classical Mechanics
2127:Magnuson JJ (1978)
2033:2006AnRFM..38..193F
1996:10.1093/icb/42.1.85
1790:(Scomber japonicus)
1535:1999IJOE...24..237S
1339:University of Essex
1135:even-toed ungulates
534:and self-propelled
4966:Evolution of birds
4719:Aquatic locomotion
4655:A fin-tuned design
4649:Fish Skin Research
4634:Locomotion in Fish
4460:2011-04-01 at the
4438:10.1242/jeb.033084
4196:2023-12-16 at the
4074:2020-12-05 at the
4001:2015-09-19 at the
3979:2015-09-24 at the
3957:2020-11-24 at the
3935:2016-03-04 at the
3913:2020-09-28 at the
3755:. Norton, 179–94.
3656:2020-12-16 at the
3629:2023-12-16 at the
3588:Systematic Biology
3515:Science News Daily
3496:2012-11-10 at the
3350:2017-07-03 at the
3277:2020-11-11 at the
3231:2021-01-14 at the
3209:2023-03-17 at the
3158:2020-09-27 at the
3077:2020-09-27 at the
2996:2019-05-30 at the
2950:American Zoologist
2908:Journal of Zoology
2859:2011-11-11 at the
2852:Ridhwan CZ (2008)
2802:2016-01-05 at the
2737:2020-10-30 at the
2612:2023-12-16 at the
2498:2019-05-20 at the
2444:2023-12-16 at the
2415:2023-12-16 at the
2390:2023-12-16 at the
2363:2023-12-16 at the
2345:, Sorrento, Italy.
2317:2023-12-16 at the
2264:2023-12-16 at the
2227:10.1002/jmor.10207
2187:2023-12-16 at the
2134:2023-12-16 at the
2106:2023-12-16 at the
2073:2023-12-16 at the
1677:2023-12-16 at the
1644:2023-12-16 at the
1587:2015-06-02 at the
1490:2020-11-26 at the
1397:Aquatic locomotion
1211:
1096:
1082:
1024:
617:heat transfer fins
402:
368:rotational freedom
344:
321:volumetric imaging
49:
5060:
5059:
5017:Animal locomotion
4956:Evolution of fish
4836:facultative biped
4630:
4629:
4474:978-1-4244-3804-4
4290:10.1242/jeb.00496
4283:(16): 2749–2758.
3441:(6643): 639–648.
3284:, 7 October 2011.
3025:(14): 5720–5724.
2898:Fish, FE (1990).
2884:978-0-12-547665-2
2769:978-1-55992-077-3
2505:. 8 October 2010.
1977:Fish, FE (2002).
1860:Scomber japonicus
1736:Scomber japonicus
1553:10.1109/48.757275
1473:Oxford dictionary
1331:thunniform motion
1303:
1302:
1193:In the 1990s the
1175:Stephen Jay Gould
1100:Monash University
925:culinary delicacy
825:open water fishes
668:convect with fins
601:RIM-7 Sea Sparrow
399:great white shark
284:
137:Thrust generation
16:(Redirected from
5090:
5027:Robot locomotion
4801:Limb development
4786:
4759:Lobe-finned fish
4688:
4681:
4674:
4665:
4664:
4619:
4618:
4604:
4603:
4589:
4588:
4574:
4573:
4559:
4558:
4547:
4546:
4537:
4527:
4450:
4440:
4411:
4409:
4403:. Archived from
4370:
4360:
4358:
4357:
4351:
4312:
4302:
4292:
4271:Sarda chiliensis
4263:
4261:
4260:
4254:
4231:
4221:
4184:
4167:(5): 1193–1222.
4146:
4145:
4143:
4142:
4136:
4097:
4088:
4082:
4066:
4060:
4059:
4049:
4039:
4015:
4009:
3993:
3987:
3971:
3965:
3964:, 20 April 2009.
3949:
3943:
3942:, 27 April 2009.
3927:
3921:
3905:
3899:
3898:
3896:
3894:
3874:
3868:
3867:
3865:
3863:
3840:
3834:
3833:
3831:
3830:
3815:
3809:
3808:
3806:
3805:
3789:
3783:
3782:
3777:. Archived from
3770:
3764:
3745:
3739:
3728:
3722:
3721:
3719:
3718:
3712:
3697:
3682:Evo Edu Outreach
3679:
3670:
3664:
3648:
3642:
3637:Norris KS (ed.)
3620:
3614:
3613:
3603:
3579:
3573:
3572:
3562:
3536:
3530:
3529:
3527:
3526:
3507:
3501:
3488:
3482:
3481:
3479:
3473:. Archived from
3432:
3423:
3417:
3416:
3406:
3396:
3364:
3358:
3342:
3336:
3335:
3325:
3315:
3306:(10): e1001168.
3291:
3285:
3269:
3263:
3241:
3235:
3195:
3189:
3172:
3166:
3150:
3144:
3143:
3133:
3115:
3091:
3085:
3069:
3063:
3062:
3052:
3042:
3010:
3004:
3003:. 25 March 2009.
2988:
2982:
2981:
2979:
2978:
2972:
2966:. Archived from
2965:
2947:
2938:
2932:
2931:
2929:
2923:. Archived from
2904:
2895:
2889:
2888:
2870:
2864:
2850:
2844:
2843:
2841:
2840:
2831:. Archived from
2816:
2810:
2794:
2785:
2784:
2782:
2781:
2762:. Pisces Books.
2753:
2742:
2726:
2720:
2719:
2713:
2705:
2703:
2702:
2674:
2668:
2667:
2631:
2625:
2601:
2595:
2594:
2571:
2565:
2564:
2554:
2544:
2512:
2506:
2490:
2484:
2463:
2457:
2434:
2428:
2404:
2398:
2382:
2376:
2352:
2346:
2336:
2330:
2306:
2300:
2283:
2277:
2253:
2247:
2246:
2206:
2200:
2176:
2170:
2157:
2151:
2125:
2119:
2095:
2086:
2062:
2053:
2052:
2015:
2009:
2008:
1998:
1973:
1967:
1966:
1964:
1963:
1945:
1913:
1907:
1906:
1904:
1903:
1897:
1866:
1853:
1847:
1846:
1844:
1843:
1783:
1777:
1776:
1774:
1773:
1729:
1723:
1722:
1720:
1719:
1699:
1690:
1666:
1657:
1633:
1627:
1610:
1604:
1578:
1572:
1571:
1569:
1563:. Archived from
1546:
1520:
1511:
1498:
1482:
1476:
1467:
1461:
1460:
1442:
1422:Sail (submarine)
1412:Robot locomotion
1292:
1291:
1276:
1275:
1260:
1259:
1244:
1243:
1225:
1224:
1213:
1212:
1074:lobe-finned fish
1050:
993:
978:
962:
936:
920:
905:
886:
803:underwater diver
780:
759:
733:
677:
662:
643:
596:
584:
566:
496:
481:
466:
449:stabilising fins
444:
428:
412:
397:Caudal fin of a
379:
363:
282:
278:
264:
246:
234:
216:
201:
189:
21:
5098:
5097:
5093:
5092:
5091:
5089:
5088:
5087:
5063:
5062:
5061:
5056:
5005:
4971:Origin of birds
4944:
4884:
4806:Limb morphology
4787:
4778:
4764:Ray-finned fish
4729:Fish locomotion
4705:
4692:
4616:
4601:
4586:
4571:
4556:
4550:External videos
4545:
4540:
4487:, pages 43–50.
4462:Wayback Machine
4407:
4368:
4355:
4353:
4349:
4310:
4258:
4256:
4252:
4229:
4198:Wayback Machine
4190:Fish Locomotion
4154:
4152:Further reading
4149:
4140:
4138:
4134:
4095:
4089:
4085:
4076:Wayback Machine
4067:
4063:
4016:
4012:
4008:, 18 July 2011.
4003:Wayback Machine
3994:
3990:
3986:, 12 July 2012.
3981:Wayback Machine
3972:
3968:
3959:Wayback Machine
3950:
3946:
3937:Wayback Machine
3928:
3924:
3915:Wayback Machine
3906:
3902:
3892:
3890:
3875:
3871:
3861:
3859:
3842:
3841:
3837:
3828:
3826:
3817:
3816:
3812:
3803:
3801:
3790:
3786:
3773:Richard Mason.
3771:
3767:
3746:
3742:
3729:
3725:
3716:
3714:
3710:
3677:
3671:
3667:
3658:Wayback Machine
3649:
3645:
3631:Wayback Machine
3621:
3617:
3580:
3576:
3537:
3533:
3524:
3522:
3509:
3508:
3504:
3498:Wayback Machine
3489:
3485:
3477:
3430:
3424:
3420:
3365:
3361:
3352:Wayback Machine
3343:
3339:
3292:
3288:
3279:Wayback Machine
3270:
3266:
3242:
3238:
3233:Wayback Machine
3213:Vintage Books.
3211:Wayback Machine
3196:
3192:
3173:
3169:
3160:Wayback Machine
3151:
3147:
3092:
3088:
3079:Wayback Machine
3070:
3066:
3011:
3007:
2998:Wayback Machine
2989:
2985:
2976:
2974:
2970:
2956:(2): 449–584 .
2945:
2939:
2935:
2927:
2902:
2896:
2892:
2885:
2871:
2867:
2861:Wayback Machine
2851:
2847:
2838:
2836:
2817:
2813:
2804:Wayback Machine
2795:
2788:
2779:
2777:
2770:
2754:
2745:
2739:Wayback Machine
2727:
2723:
2707:
2706:
2700:
2698:
2675:
2671:
2632:
2628:
2614:Wayback Machine
2602:
2598:
2572:
2568:
2513:
2509:
2500:Wayback Machine
2491:
2487:
2478:Wayback Machine
2464:
2460:
2446:Wayback Machine
2435:
2431:
2417:Wayback Machine
2405:
2401:
2392:Wayback Machine
2383:
2379:
2365:Wayback Machine
2353:
2349:
2337:
2333:
2319:Wayback Machine
2307:
2303:
2284:
2280:
2266:Wayback Machine
2254:
2250:
2207:
2203:
2189:Wayback Machine
2177:
2173:
2167:Wayback Machine
2158:
2154:
2140:Fish Physiology
2136:Wayback Machine
2126:
2122:
2108:Wayback Machine
2096:
2089:
2075:Wayback Machine
2063:
2056:
2016:
2012:
1974:
1970:
1961:
1959:
1922:Biology Letters
1914:
1910:
1901:
1899:
1895:
1875:(15): 2247–59.
1864:
1854:
1850:
1841:
1839:
1808:10.2307/1543081
1784:
1780:
1771:
1769:
1748:(13): 2251–63.
1730:
1726:
1717:
1715:
1700:
1693:
1679:Wayback Machine
1667:
1660:
1646:Wayback Machine
1634:
1630:
1611:
1607:
1589:Wayback Machine
1579:
1575:
1567:
1544:10.1.1.459.8614
1518:
1512:
1501:
1492:Wayback Machine
1483:
1479:
1468:
1464:
1457:
1443:
1439:
1435:
1407:Fish locomotion
1393:
1348:, developed by
1333:. In 2005, the
1289:
1273:
1257:
1241:
1222:
1216:External videos
1187:
1052:
1043:
1022:
1020:
1009:
1004:
1003:
1002:
1001:
1000:
994:
986:
985:
979:
971:
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963:
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951:
950:
949:
948:
937:
929:
928:
921:
913:
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906:
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789:
788:
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678:
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467:
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436:
429:
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389:
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372:
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364:
355:
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342:
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224:
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193:
190:
181:
180:
165:(and sometimes
139:
119:metriorhynchids
47:
35:
28:
23:
22:
15:
12:
11:
5:
5096:
5086:
5085:
5080:
5075:
5073:Animal anatomy
5058:
5057:
5055:
5054:
5049:
5044:
5039:
5034:
5029:
5024:
5019:
5013:
5011:
5007:
5006:
5004:
5003:
4998:
4993:
4988:
4983:
4978:
4973:
4968:
4963:
4958:
4952:
4950:
4946:
4945:
4943:
4942:
4937:
4935:Pterosaur wing
4932:
4927:
4926:
4925:
4920:
4915:
4905:
4900:
4894:
4892:
4886:
4885:
4883:
4882:
4877:
4872:
4871:
4870:
4860:
4855:
4850:
4849:
4848:
4843:
4838:
4833:
4828:
4823:
4818:
4813:
4803:
4797:
4795:
4789:
4788:
4781:
4779:
4777:
4776:
4771:
4766:
4761:
4756:
4751:
4746:
4741:
4736:
4731:
4726:
4724:Cephalopod fin
4721:
4715:
4713:
4707:
4706:
4691:
4690:
4683:
4676:
4668:
4662:
4661:
4652:
4646:
4640:
4628:
4627:
4612:
4611:
4597:
4596:
4582:
4581:
4567:
4566:
4552:
4551:
4544:
4543:External links
4541:
4539:
4538:
4518:(1): 127–134.
4503:
4477:
4451:
4431:(5): 831–841.
4412:
4410:on 2012-12-24.
4379:(5): 641–653.
4361:
4321:(3): 556–571.
4303:
4264:
4240:(3): 515–528.
4222:
4209:
4185:
4155:
4153:
4150:
4148:
4147:
4083:
4061:
4010:
3988:
3984:Engineering TV
3966:
3944:
3922:
3920:, 18 May 2009.
3900:
3883:thetimes.co.uk
3869:
3835:
3810:
3784:
3781:on 2009-07-04.
3765:
3740:
3738: : 77–97.
3723:
3688:(2): 272–288.
3665:
3643:
3633:Pages 255–275
3615:
3594:(2): 317–337.
3574:
3553:(5): 537–543.
3531:
3502:
3483:
3480:on 2012-09-16.
3418:
3359:
3337:
3286:
3264:
3236:
3190:
3167:
3145:
3086:
3064:
3005:
2983:
2933:
2930:on 2013-10-20.
2915:(3): 391–403.
2890:
2883:
2865:
2845:
2811:
2786:
2768:
2743:
2721:
2669:
2626:
2596:
2566:
2507:
2485:
2458:
2429:
2399:
2377:
2347:
2331:
2301:
2278:
2248:
2201:
2171:
2152:
2120:
2087:
2054:
2027:(1): 193–224.
2010:
1968:
1928:(5): 695–698.
1908:
1848:
1778:
1724:
1691:
1658:
1628:
1605:
1573:
1570:on 2013-12-24.
1529:(2): 237–252.
1499:
1477:
1462:
1455:
1436:
1434:
1431:
1430:
1429:
1424:
1419:
1414:
1409:
1404:
1399:
1392:
1389:
1377:biomechatronic
1307:the propulsion
1301:
1300:
1298:Festo, YouTube
1285:
1284:
1282:Festo, YouTube
1269:
1268:
1266:Festo, YouTube
1253:
1252:
1250:Festo, YouTube
1237:
1236:
1218:
1217:
1186:
1183:
1173:The biologist
1056:Carl Gegenbaur
1025:
1015:
1008:
1005:
995:
988:
987:
980:
973:
972:
964:
957:
956:
955:
954:
953:
938:
931:
930:
922:
915:
914:
909:Surfboard fins
907:
900:
899:
888:
881:
880:
879:
875:
874:
873:
872:
819:The bodies of
806:Surfboard fins
782:
775:
774:
761:
754:
753:
735:
728:
727:
726:
722:
721:
720:
719:
700:
697:
689:schooling fish
679:
672:
671:
664:
657:
656:
645:
638:
637:
636:
632:
631:
630:
629:
612:
609:
598:
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586:
579:
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568:
561:
560:
559:
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553:
552:
498:
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483:
476:
475:
468:
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460:
459:
458:
457:
446:
439:
438:
430:
423:
422:
414:
407:
406:
405:
404:
403:
381:
374:
373:
365:
358:
357:
356:
352:
351:
350:
349:
336:
329:
328:Motion control
326:
281:
280:
273:
272:
271:
266:
259:
258:
257:
256:
255:
248:
241:
240:
237:Ship propeller
236:
229:
228:
227:
226:
225:
218:
211:
210:
203:
196:
195:
191:
184:
183:
182:
178:
177:
176:
175:
138:
135:
41:
26:
9:
6:
4:
3:
2:
5095:
5084:
5081:
5079:
5076:
5074:
5071:
5070:
5068:
5053:
5050:
5048:
5045:
5043:
5040:
5038:
5035:
5033:
5030:
5028:
5025:
5023:
5020:
5018:
5015:
5014:
5012:
5008:
5002:
4999:
4997:
4994:
4992:
4989:
4987:
4984:
4982:
4979:
4977:
4974:
4972:
4969:
4967:
4964:
4962:
4959:
4957:
4954:
4953:
4951:
4947:
4941:
4938:
4936:
4933:
4931:
4928:
4924:
4921:
4919:
4916:
4914:
4911:
4910:
4909:
4906:
4904:
4901:
4899:
4896:
4895:
4893:
4891:
4887:
4881:
4878:
4876:
4873:
4869:
4866:
4865:
4864:
4861:
4859:
4856:
4854:
4851:
4847:
4844:
4842:
4839:
4837:
4834:
4832:
4829:
4827:
4824:
4822:
4819:
4817:
4814:
4812:
4809:
4808:
4807:
4804:
4802:
4799:
4798:
4796:
4794:
4790:
4785:
4775:
4772:
4770:
4769:Pectoral fins
4767:
4765:
4762:
4760:
4757:
4755:
4752:
4750:
4747:
4745:
4742:
4740:
4737:
4735:
4732:
4730:
4727:
4725:
4722:
4720:
4717:
4716:
4714:
4712:
4708:
4704:
4700:
4696:
4689:
4684:
4682:
4677:
4675:
4670:
4669:
4666:
4659:
4658:The Economist
4656:
4653:
4650:
4647:
4644:
4641:
4638:
4635:
4632:
4631:
4626:
4622:
4613:
4610:
4607:
4606:Robotic Shark
4598:
4595:
4592:
4583:
4580:
4577:
4568:
4565:
4562:
4553:
4548:
4535:
4531:
4526:
4521:
4517:
4513:
4509:
4504:
4502:
4498:
4494:
4493:0-89791-667-0
4490:
4486:
4482:
4478:
4475:
4471:
4467:
4463:
4459:
4456:
4452:
4448:
4444:
4439:
4434:
4430:
4426:
4422:
4420:
4413:
4406:
4402:
4398:
4394:
4390:
4386:
4382:
4378:
4374:
4367:
4362:
4348:
4344:
4340:
4336:
4332:
4328:
4324:
4320:
4316:
4309:
4304:
4300:
4296:
4291:
4286:
4282:
4278:
4274:
4272:
4265:
4251:
4247:
4243:
4239:
4235:
4228:
4223:
4219:
4215:
4210:
4207:
4206:9780521243032
4203:
4200:CUP Archive.
4199:
4195:
4192:
4191:
4186:
4182:
4178:
4174:
4170:
4166:
4162:
4157:
4156:
4133:
4129:
4125:
4121:
4117:
4113:
4109:
4105:
4101:
4094:
4087:
4080:
4079:HowStuffWorks
4077:
4073:
4070:
4065:
4057:
4053:
4048:
4043:
4038:
4033:
4029:
4025:
4021:
4014:
4007:
4004:
4000:
3997:
3992:
3985:
3982:
3978:
3975:
3970:
3963:
3960:
3956:
3953:
3948:
3941:
3938:
3934:
3931:
3926:
3919:
3916:
3912:
3909:
3904:
3888:
3884:
3880:
3873:
3857:
3853:
3849:
3845:
3839:
3825:on 2011-08-14
3824:
3820:
3814:
3800:on 2007-11-04
3799:
3795:
3788:
3780:
3776:
3769:
3762:
3761:9780393311396
3758:
3754:
3750:
3744:
3737:
3733:
3727:
3709:
3705:
3701:
3696:
3691:
3687:
3683:
3676:
3669:
3662:
3659:
3655:
3652:
3647:
3640:
3636:
3632:
3628:
3625:
3619:
3611:
3607:
3602:
3597:
3593:
3589:
3585:
3578:
3570:
3566:
3561:
3556:
3552:
3548:
3547:
3542:
3535:
3521:on 2007-03-04
3520:
3516:
3512:
3506:
3499:
3495:
3492:
3487:
3476:
3472:
3468:
3464:
3460:
3456:
3455:10.1038/41710
3452:
3448:
3444:
3440:
3436:
3429:
3422:
3414:
3410:
3405:
3400:
3395:
3390:
3386:
3382:
3378:
3374:
3370:
3363:
3356:
3353:
3349:
3346:
3341:
3333:
3329:
3324:
3319:
3314:
3309:
3305:
3301:
3297:
3290:
3283:
3280:
3276:
3273:
3268:
3261:
3260:9780253356758
3257:
3253:
3250:
3246:
3240:
3234:
3230:
3227:
3225:
3220:
3219:9780307277459
3216:
3212:
3208:
3205:
3204:
3199:
3194:
3187:
3186:9780226313375
3183:
3179:
3178:
3171:
3164:
3161:
3157:
3154:
3149:
3141:
3137:
3132:
3127:
3123:
3119:
3114:
3109:
3105:
3101:
3097:
3090:
3083:
3080:
3076:
3073:
3068:
3060:
3056:
3051:
3046:
3041:
3036:
3032:
3028:
3024:
3020:
3016:
3009:
3002:
2999:
2995:
2992:
2987:
2973:on 2015-09-24
2969:
2964:
2959:
2955:
2951:
2944:
2937:
2926:
2922:
2918:
2914:
2910:
2909:
2901:
2894:
2886:
2880:
2876:
2869:
2862:
2858:
2855:
2849:
2835:on 2017-08-02
2834:
2830:
2826:
2822:
2815:
2808:
2805:
2801:
2798:
2793:
2791:
2775:
2771:
2765:
2761:
2760:
2752:
2750:
2748:
2740:
2736:
2733:
2732:
2725:
2717:
2711:
2696:
2692:
2688:
2684:
2680:
2673:
2665:
2661:
2657:
2653:
2649:
2645:
2642:(4): 459–70.
2641:
2637:
2630:
2623:
2622:9780760309612
2619:
2615:
2611:
2608:
2607:
2600:
2592:
2589:(in German).
2588:
2584:
2582:
2576:
2570:
2562:
2558:
2553:
2548:
2543:
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2501:
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2455:
2454:9780761471707
2451:
2447:
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2440:
2439:
2433:
2426:
2425:9780760338193
2422:
2418:
2414:
2411:
2410:
2403:
2396:
2393:
2389:
2386:
2381:
2374:
2373:9781560328391
2370:
2366:
2362:
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2351:
2344:
2341:
2335:
2328:
2327:9781904381228
2324:
2320:
2316:
2313:
2312:
2305:
2298:
2297:9781434421258
2294:
2290:
2289:
2282:
2275:
2274:9780595432073
2271:
2267:
2263:
2260:
2259:
2252:
2244:
2240:
2236:
2232:
2228:
2224:
2220:
2216:
2212:
2205:
2198:
2197:9780074603154
2194:
2190:
2186:
2183:
2182:
2175:
2168:
2164:
2161:
2156:
2149:
2148:9780123504074
2145:
2141:
2137:
2133:
2130:
2124:
2117:
2116:9780691147192
2113:
2109:
2105:
2102:
2101:
2094:
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2083:9781852339593
2080:
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2059:
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2046:
2042:
2038:
2034:
2030:
2026:
2022:
2014:
2006:
2002:
1997:
1992:
1988:
1984:
1980:
1972:
1957:
1953:
1949:
1944:
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1713:
1709:
1708:New Scientist
1705:
1698:
1696:
1688:
1687:9781402022326
1684:
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1665:
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1654:9780750679695
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1624:9780750681506
1621:
1617:
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1601:9781444311907
1598:
1594:
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1474:
1471:
1466:
1458:
1456:9780850451634
1452:
1448:
1441:
1437:
1428:
1427:Surfboard fin
1425:
1423:
1420:
1418:
1415:
1413:
1410:
1408:
1405:
1403:
1400:
1398:
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1048:
1044:– Aristotle,
1040:
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992:
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910:
904:
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871:
869:
865:
861:
857:
853:
849:
848:butterflyfish
845:
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837:
836:butterflyfish
832:
830:
826:
822:
817:
815:
811:
807:
804:
800:
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785:
784:Car tail fins
779:
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766:
765:
758:
749:
745:
744:
739:
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723:Ornamentation
718:
716:
712:
711:
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686:
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676:
667:
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652:
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642:
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626:
625:fin radiators
622:
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583:
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541:
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533:
529:
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487:control pitch
486:
480:
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156:
155:pectoral fins
152:
148:
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120:
116:
111:
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101:
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58:
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4593:
4578:
4576:Robotic Fish
4563:
4515:
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4465:
4428:
4424:
4418:
4405:the original
4376:
4372:
4354:. Retrieved
4318:
4314:
4280:
4276:
4270:
4257:. Retrieved
4237:
4233:
4217:
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4189:
4164:
4160:
4139:. Retrieved
4106:(1): 23–35.
4103:
4099:
4086:
4078:
4064:
4027:
4023:
4013:
4006:The Engineer
4005:
3991:
3983:
3969:
3961:
3947:
3939:
3925:
3917:
3903:
3891:. Retrieved
3882:
3872:
3860:. Retrieved
3856:the original
3847:
3838:
3827:. Retrieved
3823:the original
3813:
3802:. Retrieved
3798:the original
3794:"Fish Robot"
3787:
3779:the original
3768:
3752:
3743:
3735:
3731:
3726:
3715:. Retrieved
3685:
3681:
3668:
3660:
3646:
3638:
3634:
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3591:
3587:
3577:
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3544:
3534:
3523:. Retrieved
3519:the original
3514:
3505:
3486:
3475:the original
3438:
3434:
3421:
3376:
3372:
3362:
3355:ScienceDaily
3354:
3340:
3303:
3300:PLOS Biology
3299:
3289:
3282:ScienceDaily
3281:
3267:
3251:
3248:
3239:
3223:
3202:
3198:Shubin, Neil
3193:
3176:
3170:
3163:ScienceDaily
3162:
3148:
3103:
3099:
3089:
3067:
3022:
3018:
3008:
3001:ScienceDaily
3000:
2986:
2975:. Retrieved
2968:the original
2953:
2949:
2936:
2925:the original
2912:
2906:
2893:
2874:
2868:
2848:
2837:. Retrieved
2833:the original
2828:
2824:
2814:
2806:
2778:. Retrieved
2758:
2730:
2724:
2710:cite journal
2699:. Retrieved
2689:(3): 241–8.
2686:
2682:
2672:
2639:
2635:
2629:
2606:Fifties Fins
2605:
2599:
2590:
2586:
2580:
2569:
2524:
2520:
2510:
2503:ScienceDaily
2502:
2488:
2480:
2468:
2461:
2437:
2432:
2408:
2402:
2394:
2380:
2356:
2350:
2342:
2334:
2310:
2304:
2287:
2281:
2257:
2251:
2218:
2214:
2210:
2204:
2180:
2174:
2155:
2139:
2123:
2099:
2066:
2024:
2020:
2013:
1989:(1): 85–93.
1986:
1982:
1971:
1960:. Retrieved
1925:
1921:
1911:
1900:. Retrieved
1872:
1868:
1859:
1851:
1840:. Retrieved
1799:
1795:
1789:
1781:
1770:. Retrieved
1745:
1741:
1735:
1727:
1716:. Retrieved
1707:
1670:
1637:
1631:
1614:
1608:
1592:
1576:
1565:the original
1526:
1522:
1494:
1480:
1472:
1465:
1446:
1440:
1385:
1370:
1365:
1361:
1357:
1345:
1343:
1304:
1297:
1281:
1265:
1249:
1233:
1227:
1201:to test the
1198:
1172:
1163:
1158:Ichthyosaurs
1156:
1139:hippopotamus
1128:
1108:
1097:
1089:
1060:
1053:
1045:
1042:
1037:
1027:
833:
818:
792:
762:
741:
708:
702:
683:raise their
649:use fins to
614:
509:
503:controls yaw
472:control roll
419:corrects yaw
345:
317:
307:
300:
140:
130:
115:ichthyosaurs
112:
77:
52:
50:
4930:Insect wing
4880:Webbed foot
4821:unguligrade
4816:plantigrade
4811:digitigrade
3962:Technovelgy
3082:Neil Shubin
2797:Ichthyology
2575:Stromer, E.
2221:(1): 1–11.
1802:(1): 9–19.
1346:AquaPenguin
1246:AquaPenguin
1230:the catfish
1203:feasibility
1169:precursor."
997:Flying fish
860:puffer fish
829:coral reefs
821:reef fishes
816:side fins.
764:Spinosaurus
666:Oil heaters
653:the engine.
451:reduce roll
129:are called
127:plesiosaurs
5067:Categories
4858:Cephalopod
4774:Pelvic fin
4744:Dorsal fin
4739:Caudal fin
4591:Robot Fish
4356:2012-12-03
4259:2012-11-23
4220:: 159–297.
4141:2012-11-20
3829:2007-10-25
3804:2007-10-25
3717:2012-11-26
3622:Felts WJL
3525:2007-06-18
3106:: e60635.
2977:2014-11-08
2839:2012-11-26
2780:2018-04-24
2701:2008-08-25
2593:(3): 1–32.
2527:(1): 301.
2077:Springer.
1962:2012-11-21
1902:2012-11-20
1842:2021-05-19
1772:2012-11-20
1718:2008-03-31
1681:Springer.
1433:References
1323:biomimetic
1311:propulsive
1166:dorsal fin
1115:pterosaurs
1018:locomotion
876:Other uses
852:damselfish
840:damselfish
748:pelvic fin
715:pelvic fin
685:dorsal fin
647:Motorbikes
621:heat sinks
302:Cavitation
163:propellers
4949:Evolution
4908:Bird wing
4853:Arthropod
4846:quadruped
4637:Earthlife
4214:Zoologica
3226:interview
3122:2050-084X
2465:Dement J
1539:CiteSeerX
1373:Hugh Herr
1371:In 2004,
1362:AquaJelly
1319:submarine
1294:AiraCuda
1278:AquaJelly
1234:CIA video
1131:cetaceans
1063:tetrapods
1030:analogous
1007:Evolution
982:Frog fish
967:reef fish
890:Swim fins
868:trunkfish
856:angelfish
844:angelfish
795:swim fins
570:Fletching
544:grid fins
536:torpedoes
518:and some
512:fletching
485:Elevators
205:Cetaceans
123:mosasaurs
108:anal fins
100:tail fins
92:cetaceans
84:Fish fins
5083:Rocketry
4940:Wingspan
4923:feathers
4918:skeleton
4903:Bat wing
4863:Tetrapod
4749:Fish fin
4534:21708701
4458:Archived
4447:20154199
4347:Archived
4343:36207755
4299:12847120
4250:Archived
4194:Archived
4132:Archived
4072:Archived
4056:15679914
4030:(1): 6.
3999:Archived
3977:Archived
3955:Archived
3933:Archived
3911:Archived
3887:Archived
3708:Archived
3704:11583496
3654:Archived
3627:Archived
3610:16012099
3494:Archived
3413:22160688
3348:Archived
3332:21990962
3275:Archived
3229:Archived
3207:Archived
3156:Archived
3140:33198887
3075:Archived
3059:19321424
2994:Archived
2857:Archived
2800:Archived
2774:Archived
2735:Archived
2664:34505861
2656:16341874
2610:Archived
2577:(1915).
2561:20932273
2496:Archived
2474:Archived
2442:Archived
2413:Archived
2388:Archived
2361:Archived
2315:Archived
2262:Archived
2235:15536651
2185:Archived
2163:Archived
2132:Archived
2104:Archived
2071:Archived
2005:21708697
1956:Archived
1952:21508026
1893:Archived
1889:10887065
1836:Archived
1832:28910289
1824:11249216
1766:Archived
1762:11507109
1712:Archived
1675:Archived
1642:Archived
1585:Archived
1561:17226211
1488:Archived
1417:RoboTuna
1391:See also
1381:actuator
1366:AiraCuda
1354:penguins
1185:Robotics
1147:flippers
1104:lungfish
1078:tetrapod
941:spoilers
864:filefish
814:cambered
808:provide
681:Sailfish
528:missiles
470:Ailerons
309:Scombrid
159:Turbines
151:tail fin
96:pectoral
5010:Related
4868:dactyly
4754:Flipper
4625:YouTube
4609:YouTube
4594:YouTube
4579:YouTube
4564:YouTube
4401:4998727
4381:Bibcode
4323:Bibcode
4169:Bibcode
4108:Bibcode
3893:12 June
3862:12 June
3848:cnn.com
3569:9159931
3471:2913898
3463:9262397
3443:Bibcode
3404:3248479
3381:Bibcode
3323:3186808
3200:(2009)
3131:7671686
3050:2667079
3027:Bibcode
2695:7580765
2552:2958921
2529:Bibcode
2049:4983205
2029:Bibcode
1943:3169073
1816:1543081
1531:Bibcode
1358:AquaRay
1262:AquaRay
1228:Charlie
1199:Charlie
894:swimmer
810:surfers
799:swimmer
738:cichlid
705:cichlid
603:missile
532:rockets
313:finlets
287:Finlets
5032:Samara
4841:triped
4826:uniped
4532:
4491:
4472:
4445:
4399:
4341:
4297:
4204:
4128:890431
4126:
4054:
4047:544953
4044:
3940:Gizmag
3759:
3702:
3608:
3567:
3469:
3461:
3435:Nature
3411:
3401:
3330:
3320:
3258:
3217:
3184:
3138:
3128:
3120:
3057:
3047:
2881:
2766:
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2662:
2654:
2620:
2559:
2549:
2452:
2423:
2371:
2325:
2295:
2272:
2243:827610
2241:
2233:
2195:
2146:
2114:
2081:
2047:
2003:
1950:
1940:
1887:
1830:
1822:
1814:
1760:
1685:
1652:
1622:
1599:
1559:
1541:
1453:
572:on an
540:planar
516:arrows
501:rudder
431:A fin
417:rudder
384:dermal
347:fins.
291:vortex
147:thrust
143:thrust
131:flukes
104:dorsal
88:thrust
69:fluids
65:thrust
4890:Wings
4875:Digit
4831:biped
4793:Limbs
4703:wings
4699:limbs
4408:(PDF)
4397:S2CID
4369:(PDF)
4350:(PDF)
4339:S2CID
4311:(PDF)
4253:(PDF)
4230:(PDF)
4135:(PDF)
4124:S2CID
4096:(PDF)
3711:(PDF)
3700:S2CID
3678:(PDF)
3478:(PDF)
3467:S2CID
3431:(PDF)
3100:eLife
2971:(PDF)
2946:(PDF)
2928:(PDF)
2903:(PDF)
2660:S2CID
2239:S2CID
2045:S2CID
1896:(PDF)
1865:(PDF)
1828:S2CID
1812:JSTOR
1568:(PDF)
1557:S2CID
1519:(PDF)
1350:Festo
1315:boats
1151:fluke
1143:seals
1119:birds
965:Many
945:wings
574:arrow
524:bombs
520:darts
447:Ship
171:pumps
57:foils
44:foils
5022:Gait
4913:keel
4711:Fins
4701:and
4695:Fins
4530:PMID
4489:ISBN
4483:In:
4470:ISBN
4464:In:
4443:PMID
4295:PMID
4202:ISBN
4052:PMID
3895:2011
3864:2011
3757:ISBN
3606:PMID
3565:PMID
3459:PMID
3409:PMID
3328:PMID
3256:ISBN
3224:UCTV
3215:ISBN
3182:ISBN
3136:PMID
3118:ISSN
3055:PMID
2879:ISBN
2764:ISBN
2716:link
2691:PMID
2652:PMID
2618:ISBN
2557:PMID
2450:ISBN
2421:ISBN
2369:ISBN
2323:ISBN
2293:ISBN
2270:ISBN
2231:PMID
2193:ISBN
2144:ISBN
2112:ISBN
2079:ISBN
2001:PMID
1948:PMID
1885:PMID
1820:PMID
1758:PMID
1683:ISBN
1650:ISBN
1620:ISBN
1597:ISBN
1451:ISBN
1364:and
1344:The
1123:bats
1121:and
1032:and
943:and
866:and
854:and
842:and
769:sail
651:cool
548:GOCE
499:The
433:keel
339:orca
169:and
167:fans
161:and
125:and
106:and
98:and
80:fish
61:lift
18:Fins
4520:doi
4497:doi
4433:doi
4429:213
4389:doi
4331:doi
4285:doi
4281:206
4242:doi
4177:doi
4116:doi
4042:PMC
4032:doi
3852:CNN
3751:in
3690:doi
3635:in:
3596:doi
3555:doi
3451:doi
3439:388
3399:PMC
3389:doi
3377:108
3318:PMC
3308:doi
3249:in:
3126:PMC
3108:doi
3045:PMC
3035:doi
3023:106
2958:doi
2917:doi
2913:221
2829:389
2644:doi
2547:PMC
2537:doi
2223:doi
2219:263
2138:in
2037:doi
1991:doi
1938:PMC
1930:doi
1877:doi
1873:203
1804:doi
1800:200
1750:doi
1746:204
1549:doi
1485:Fin
1470:Fin
1317:or
1205:of
1195:CIA
801:or
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63:or
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