Most of the robotic fishes relying on tail fins in swimming have severe kinematic restrains to
turn while maintaining the same position. In this respect, it is difficult to plan an optimal path
for robotic fish to complete the given tasks, such as searching or tracking. Therefore, in this
paper, we explored the kinematic characteristic of a robotic fish with tail fins for the purpose
of deriving optimal paths. At first, the effects of the frequency, swing amplitude and deflection
of the caudal fin on the forward velocity and turning radius were tested.