TY - JOUR T1 - Design, Modeling, and Characterization of a Miniature Robotic Fish for Research and Education in Biomimetics and Bioinspiration JF - IEEE/ASME TRANSACTIONS ON MECHATRONICS Y1 - 2013 A1 - Kopman, Vladislav A1 - Porfiri, Maurizio VL - 18 IS - 2 ER -