Inthispaper,acarangiformroboticfishwith4-DoF(degreeoffreedom)tailhasbeendeveloped.Theroboticfishhascapabilityofswimmingundertwomodesthatareradiocontrolandautonomousswimming.Experimentswereconductedtoinvestigatetheinfluencesofcharacteristicparametersincludingthefrequency,theamplitude,thewavelength,thephasedif-ferenceandthecoefficientonforwardvelocity.Theexperimentalresultsshownthattheswimmingperformanceoftheroboticfishisaffectedmostlybythecharacteristicparametersobserved.