Abstract
The aim of this study is to develop a swimming robot with good steering performance, in which the steering behavior is achieved by one degree of freedom (1-DOF) represented by a two concave-shaped pectoral fins. The steering mechanism adopted here based on differential drive principle. This principle is carried out by varying the right/left fins velocities. Different radii have been achieved with four different cases of velocities. The proposed design has been validated theoretically via Solidworks{\textregistered} platform and proved practically in a physical swimming pool. A minimum turning radius achieved is 0.40 of body length (BL).
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