Abstract
In this research, we daveloped a swimming robot with a fluttering kick of two legs which can swim freely both on the surface of the water and under the water. We have established control methods for all kinds of motion of this robot. We considered a dynamic model with undulating fins, and this has been used to construct a dynamic model of a propulsion and control system, and to analyze its motion velocity and propulsion efficiency. We proposed and designed the corresponding control algorithms to generate an appropriate thrust force and to decrease the disadvantageous influences of the interference of fluttering kicks. We can now realize free posture control and obtain various forms of motion.
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