Biorobotics aims at developing artifacts as synthesis and simulation of living systems. Herein, an autonomous agent inspired to Lampetra fluviatilis that was developed in the framework of the LAMPETRA Project, has been described. Lampreys are established models for studying higher vertebrate locomotion, including humans. The LAMPETRA robotic artifact mimicked the flexibility, as well as the passive dynamic movement of the real animal, thanks to the muscle-like actuation system relying on the use of direct magnet interaction, and closely mimicking the central pattern generators (CPGs) architecture of the animal spinal cord. Furthermore, the robot included a binocular vision system to track objects and avoid obstacles, as well as an artificial skin that made it waterproof and compliant. This biomimetic agent can be used to interact with abiotic and biotic components of aquatic ecosystems, as well as could be interfaced with the central nervous systems of real fish creating a biohybrid configuration.