From Biological Mechanisms to Task-Oriented Design Principles: A Critical Review of Fish-like Biomimetic Robots

Fish-like biomimetic robots increasingly combine compliant structures, soft and variable-stiffness actuation, distributed sensing, and autonomous control, but cross-study comparison remains difficult because biological inspiration, robotic embodiment, test boundaries, and mission definitions are heterogeneous. We synthesize the field through a mechanism-to-evidence framework that links biological mechanisms to measurable descriptors, robotic embodiment, controlled interventions, task-oriented evidence, and conditional design principles. Across the literature, the transferable unit is not external resemblance but a functional mechanism whose advantage remains measurable after robotic integration. Three conclusions recur: dynamic performance depends on matching stiffness, actuation frequency, damping, and fluid loading within the intended operating range; morphology, sensing, control, power, and payload must be co-designed; and component, free-swimming, controlled-task, and field studies support different scopes of inference. We translate these findings into nine evidence-informed conditional design principles with explicit applicability limits and discriminating validation tests. Major gaps remain in wet-state dynamic characterization, complete reporting of power boundaries and kinematics, uncertainty and failures, matched task-level comparisons, and long-duration field validation. The resulting framework shifts evaluation from peak metrics and taxonomic labels toward task-conditioned, evidence-bounded design decisions.