Add to ORKGUnderwater fish of the class Batoidea, commonly known as rays and skates, use large cartilaginous wings to propel them-selves through the water. This motion is of great interest in bioinspired robotics as an alternative propulsion mechanism. Prior research has focused primarily on the oscillating kinemat-ics used by some species which resembles flapping; this study in-vestigates undulatory motion induced by propagating sinusoidal waves along the fin. An analytical model of undulatory kine-matics is presented and correlated with biological literature, and the model is then simulated via unsteady computational fluid dynamics and multiparticle collision dynamics. A bioinspired robot, Batoid Underwater Robotics Testbed (BURT), was devel-oped to...