Bionic mudskipper with flexible and variable-rigidity pectoral fins and control method of bionic mudskipper

The invention relates to a bionic mudskipper with flexible and variable-stiffness pectoral fins and a control method thereof, and the bionic mudskipper comprises a body, and the two sides of the body are respectively provided with a driving device; the pectoral fin part is connected to the driving device and is driven by the driving device to swing or rotate, the pectoral fin part comprises a flexible pectoral fin which is made of a flexible material and is of a hollow structure, and a plurality of flexible sleeves which are made of a flexible material and are arranged in the flexible pectoral fin, the outer surface of the flexible sleeve and the inner surface of the flexible pectoral fin are fixedly arranged; the springs are arranged in the flexible sleeves respectively, and the front ends of the springs are connected to the elastic front cover plate; and the adjusting device is used for tensioning or loosening the spring so as to change the equivalent bending-resistant section rigidity of a combined body of