マグロをモデルとした振動翼推進型魚ロボットの開発

（可動頭部によるヨートルク発生効果の計算的検討）

抄録

The authors have developed a tuna modeled oscillation wing propulsion type fish robot, TDUNA2016. In order to improve the Yaw rotation characteristics, TDUNA2016 has a structure which is divided into 3 parts, head, torso, tail part, and the head is operated independently to use for Yaw turning. In this study, the rotational torque and the drag of TDUNA2016 in the yaw direction were calculated when changing the angle of the head and the dorsal-ventral fins obtained from three-dimensional unsteady fluid analysis. Based on the results, we discussed the method of interlocking the rotation angle of the head and the fins.