Abstract
In this paper, we propose an aquatic propulsion mechanism in which a rolling motion of a cylindrical body is self-excited so as for a flexible fin to kick fluid. After introducing a basic theory of the 2-DOF self excited motion, we discuss the design of a simplest rolling propulsion mechanism with a flexible fin that is driven by this theory. We constructed an experimental setup, verified the occurrence of the self-excited rolling motion, and compared the experimental results with those of the simulation. It is found that the simulation and the experiment agree well in both the frequency and the amplitude.
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