Based on bionic research on fast-start of fish, the motion equations of S-start are established.Subsequently, law of motion of body centerline are simulated and expatiated.

• 摘要基于鱼类快速起动的仿生学研究，建立了仿生机器鱼S形起动的运动方程，对S形起动的鱼体体干曲线波分别进行仿真计算和分析。