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In this paper we present a novel framework for computing the steady turning motion of a robotic fish undergoing periodic body and/or tail deformation. Taking the turning radius and the angular velocity as unknowns, we obtain the absolute motion trajectories of points on the "spinal column" of robotic fish by superimposing relative body/tail motions on the rigid body circular motion. The hydrodynamic reactive force and the resulting moment are then computed from the motion trajectories, usingdoi:10.1109/robot.2009.5152704 dblp:conf/icra/HuHXT09 fatcat:v4cso6qj3vcudboshjtd3vziku