If you’re going to build an underwater vehicle, propeller control is the conventional solution. Eric Dirgahayu, however, created his underwater creature in the form of a fish, complete with a tail that powers it through the water, and pectoral fins that could, in theory, steer it in the correct direction. There is also a ballast tank to adjust its buoyancy. Interestingly, control of this “fish” is accomplished via a TV remote, so the surrounding water would need to be relatively clear.
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