So you would like to let your goldfish explore your place on its own? The Machine 2 Fish V2 is just the robot for the job. The project was started in 2010 but has come a long way over the years. It now has new sensors and program to respond more accurately to your fish. Movements of the fish is used to control the robot.
Gregoire Lauvin is responsible for programming this robot. More info is available here.