A method was devised to vector propulsion of a robotic pectoral fin by means of actively controlling fin surface curvature. Separate flapping fin gaits were designed to maximize thrust for each of three different thrust vectors: forward. reverse. and lift. https://www.roneverhart.com/Clos-Pegase-Cabernet-Sauvignon-Hommage-Tenma-Vineyard-Napa-Valley-2014/