Abstract
This paper deals with a development of underwater propulsion mechanisms and robots by using traveling-wave motion of flexible fins. In the study, two robots are developed. The one is a robot that has two flexible fins controlled independently for rotational and translational motions. And the other is a robot that can change fin form either for rotation motion or for translational motions. Propulsion and motion performances are experimentally evaluated. The propulsion force and the torque generated by the traveling-wave motion are measured in stationary water. As a result, smooth rotational and translational motions of the robots are obtained by the traveling-wave motion, and the effect of the traveling-wave motion on the propulsion force and torque is clarified with changing the frequency of the motion.
