Abstract: Fundamental fish swimming kinematic by sinusoidal fit consisting of smooth amplitude modulated travelling wave h(x,t) along the fish body from the nose to tail being a construe of wave amplitude envelope f(x) and a fish tail oscillation function g(t). Improved fundamental parameters by previous workers, such as the body wave speed (C), wavelength of body wave (λ), swimming speed (U), tail beat amplitude (A) and Strouhal-Number (St) were utilized in the simulation for designing the biomimetic robotic fish. Effects of these parameters on the swimming kinematic model had been developed for comparison between the Blacktip shark and biomimetic robot fish over a single cycle with 18 iteration of full fish body motion from nose to tail. Results showed that Blacktip shark could be seen to produce a more elongated body displacement shape as compared to the biomimetic robotic fish. Doubling the swimming speed (U) had also showed insignificant body motion change though increase in tail beat frequency and reduction of tail beat amplitude (A) and wavelength (λ) was obvious. The effect of doubling the tail beat frequency had also shown similar behavior as doubling the swimming speed.