Abstract—Bio-inspired, fish-like robots are promising platforms for collecting data within sensitive environments, due to the safer nature of oscillatory flapping propulsion. However, current fish-inspired robots often cannot match the maneuverability of their biological counterparts. This study aims to close the gap by expanding on our previous work BlueKoi, a koi- and tuna-inspired robot that captures the benefits of body flexibility with only two actuators. We introduce a rapid maneuver for angular displacements. Through experimental data in a large pool and building upon our simplified model, we demonstrate the potential for BlueKoi as a capable platform for marine operations.