Abstract: Research on bionic fish propelled by oscillating paired pectoral foils becomes a hotpot, for their outstanding characteristics of high maneuverability, high efficiency and velocity. Based on summarizing the biological research achievements and field observation of cow-nosed ray, typical structure and movement characteristics of fish with oscillating paired pectoral foils are obtained. Research status at home and abroad in this research field, including the theoretical and experimental research of single pectoral foil and bionic fish prototypes constructed are systematically summarized. Stage achievements of bionic prototypes of this kind developed by the research team are emphatically introduced, and compared with other prototypes in aspect of swimming speed. According to analysis of the research status, the major reasons causing gaps between bionic prototypes and their nature samples are summarized. Along with deep going of research, the gap between the bionic prototype and its nature sample will be reduced. Broad practical application prospects can be expected.

Key words: Bionic robot fish, Bionics, Oscillating propulsion, Pectoral foils