Dandan Zhang Yimin Fang Guangming Xie Junzhi Yu Long Wang Coordinating Dual-Mode Biomimetic Robotic Fish in Box-Pushing Task. 815-824 2005 conf/ecal/2005 ECAL http://dx.doi.org/10.1007/11553090_82 db/conf/ecal/ecal2005.html#ZhangFXYW05