摘要In order to provide data for joints control of our recently designed crucian like biomimetic robot fish, an X-ray photograph technology was adopted to determine the number and length of vertebral joints. A frame-by-frame analysis of high-speed videotapes was conducted to quantify the kinematics of crucian at four speeds (12.651 cm·s-1, 18.201 cm·s 1, 21.901 cm·s 1,24.368 cm·s -1) during cruising. In addition to a brief introduction to experimental conditions and methods, we analyzed the influence of individual diversity on the absolute length as well as the non-dimensional length of vertebral joints. We also presented the maximal angular velocity and acceleration of vertebral joints under four swimming speeds, and provided the change of relative rotation angle, angular difference, angular velocity and angular acceleration of the rear vertebral joints with time at a certain swimming speed of 12.651 cm·s-1. At last, we presented the maximal lateral displacement of each mark at that speed.The study found that the influence of individual diversity on the non-dimensional length of vertebral joints is not significant; the maximal angular velocity and acceleration of vertebral joints increase with swimming speed; angular difference, angular velocity and angular acceleration exhibit two maximal values over one period at a certain swimming speed.