This paper addresses the design and control of a novel tuna-inspired robotic fish able to realize both fast swimming and high maneuverability. A two-stage transmission mechanism is proposed, aiming at reducing the volume and mass of caudal peduncle. With the help of it, both volumes
and mass of moving parts can be reduced to allow higher swing frequency. At the same time, two joints driven by two motors help to guarantee the flexibility of steering. The robotic fish achieves a maximum speed up to 1.65 body lengths per second (BL/s) and a minimum turning radius less than 0.35 body lengths (BL), based on the open-loop control designed by Central Pattern Generator (CPG) method. Furthermore, a yaw
control is proposed to maintain course angle at high swimming speed, and simulation in Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software reveals the effectiveness. The obtained results show that the proposed yaw control method can regulate the fluctuation of anterior body to desired range without compensation of sideways drift.