Figure 2.

Schematics of the experimental setups. (a) Behavioural experiment: the robotic fish and individual golden shiners swimming in a section of a Blazka-type water tunnel delimited by two plastic honeycombs. A camera placed above the tunnel records their swimming. (b) DPIV analysis: the robotic fish swimming in a section of a Blazka-type water tunnel delimited by two plastic honeycombs. A laser sheet oriented in the horizontal (x,y) plane illuminates the seeded water in correspondence with the compliant mylar caudal fin. A camera placed below the tunnel records the area illuminated by the laser.