Just found the article on the robotic tuna, it's in the New Scientist of 1st October 94. The robot is called Charlie and lives at MIT. The swimming motion of the robot tuna is powered by 6 servo motors linked by "tendons" to the tail etc. Charlie has a skin of Lycra to make him fish shape and also to make him look fashionable when he hangs out at the beach. If you need to no more, perhaps you can post to sci.robotic.fish.
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