抄録
We have made the multilink propulsion mechanism in fluid modeled on anguilliform swimming, and aimed to develop the movement generator of the propulsion mechanism to fit the changing locomotion task and surrounding environment. As the first stage for the development of the movement generator, we conducted the generation of the optimum movement to provide greater and stable thrust force of the propulsion mechanism. However, we have previously used the propulsion mechanism was suspended by string. In this study, we made new waterproof propulsion mechanism which can float on water. We discussed the generation of movement pattern and thrust force of the propulsion mechanism.
