 This paper presents a new type of bionic gliding robotic dolphin which has been designed to mimic the movement of real dolphins. The robotic dolphin features a yaw joint which allows it to move in different directions while also allowing for more flexibility in its movements. A dynamic model was then created using the Newton Euler method to analyze the propulsion of the robotic dolphin in both dolphin-like swimming and gliding motions. Several simulations and experiments were conducted to test the robotic dolphin's capabilities in both modes. This article is offered by Yang Zhang, Zhen Cheng Wu, Zhen Wang, and others.