Abstract
We noticed the difference of the propulsion direction between polychaete worm and nematodes, and developed the omni-directional aquatic multi-link propulsion mechanism modeled on polychaete worm. However, fins of the mechanism corresponding to parapodia of polychaete worm were simplified and fixed to the bottom of the body of the mechanism. We conducted the motion analysis of parapodia of polychaete worm for the development of improved omni-directional mobility. In this study, we developed new omni-directional aquatic multi-link mechanism with active fins regarding the results of the motion analysis of parapodia of polychaete worm.
