This paper focuses on the modelling and control problems of a self-propelled. multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins. the amphibious robot propels itself underwater by oscillations of several modular fish-like propelling units coupled with a pair of pectoral fins capable of non-continuous 360 degree rotation. https://safeersappliancers.shop/product-category/neff-n70-ki6873fe0g-integrated-70-30-fridge-freezer/