Open Access Open Access  Restricted Access Subscription Access

Swimming of Bio-inspired Omni-Directional Aquatic Multi-link Propulsion Mechanisms

Shunichi Kobayashi


We observed organisms that swim in water by bending motions and noticed that the swimming direction of polychaete worm is different from that of nematode worm. This is explained that the existence of projecting protrusions of polychaete worm increases the tangential drag component of the body by the movement in water. We have developed the bio-inspired omni-directional multilink propulsion mechanism in water by changing the angle of fins corresponding to projecting protrusions. In this study, we have conducted the examination of swimming for two mechanisms. Furthermore we applied the rotation of fin in synchronization with bending movement of the mechanism to increase the lateral swimming speed.

Full Text:



Kobayashi, S. 1994. Propulsion Force Characteristics of Propulsion Mechanism Imitating Bending-movement Organisms in Water. Trans. JSME (in Japanese) 60(579) B: 3613-3617.

Terashima, T., Morisaki, R., Kobayashi, S., Morikawa, H. 2008. Multi-link Propulsion Mechanism in Fluid Modeled on Bending Movement of Organisms. Proceedings of 2008 JSME Conference on Robotics and Mechatronics (in Japanese), 2P2-H12.

Kobayashi, S., Kameyama, T., Morikawa, H. 2004. Generation of Movement for Multi-link Propulsion Mechanism in Fluid. Proc. The Fourteenth International Offshore and Polar Engineering Conference 290 – 294.

Kobayashi, S., Sekizuka, A., Okunishi, T., Morikawa, H. 2000. Distributed Control for Bending Propulsion Mechanism in Water. JSME International Journal (Series C) 43(4): 929-933.

Taylor, G. 1952. Analysis of the Swimming of Long and Narrow Animals. Proc. Roy. Soc. [A] 214: 158-163.

Kobayashi, S., Watanabe, R., Oiwa, T., Morikawa, H. 2009. Computational Study of Micropropulsion Mechanism in Water Modeled on Flagellum with Projecting Mastigonemes. Journal of Biomechanical Science and Engineering 4(1): 11-12.

Kobayashi, S., Terashima, T., Fujii, K., Morikawa, H. 2009. Influence of Movement and Fin Shape on the Swimming Speed for the Multilink Propulsion Mechanism in Water. Proc. The Fourth International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2009, S34.

Kobayashi, S., Fujii, K., Yamaura, T., Morikawa, H. 2011. Bio-inspired Omni-Directional Multi-link Propulsion Mechanism in Fluid. Journal of Robotics and Mechatronics. 23(6) (accepted).

Hirose, S., 1987. Seibutu Kikai Kougaku (in Japanese). Kogyo Chosakai: 112-116.



  • There are currently no refbacks.