Recent research on robotic fish mainly focused on the bionic structure design and realizing the movement with smart materials. Although many robotic fish have been proposed, most of these works were oriented toward shallow water environments and are mostly built with purely rigid structures, limiting the mobility and practical usability of robotic fish. Inspired by the stability of the real manta ray, a manta ray robot design is proposed with soft material made flapping wing based on an open-source ROV (Remotely Operated Vehicle). The flapping wing structure with three different materials mimics the wide pectoral fins of real manta rays, which have bones, muscles, and skin. Furthermore, its modular design makes it easy to install and disassemble. The kinematic and hydrodynamic analysis of the manta ray robot are simulated in this paper. The actual manta ray robot is fabricated and several sets of test are performed in the pool. The robot can swim forward continually and stably with a simple rolling and pitching pattern.

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