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Home > Help Publication Information Title Japanese: 羽ばたき翼で推進する高速なペンギン型水中遊泳ロボットの研究  English: Study of a high-speed penguin-inspired underwater swimming robot with flapping-wing propulsion  Author Japanese: 齋藤 亜也翔, 小林 和人, 田中 博人.   English: Ayato Saito, Kazuto Kobayashi, Hiroto Tanaka.   Language Japanese  Journal/Book name Japanese:   English:   Volume, Number, Page         Published date June 28, 2026  Publisher Japanese:   English:   Conference name Japanese: ロボティクス・メカトロニクス講演会2026  English:   Conference site Japanese: 福岡  English:   Official URL https://robomech.org/2026/   Abstract Penguins are highly efficient marine animals that swim underwater using a pair of flapping wings. To achieve higher swimming speed in a penguin-mimicking robot, we developed a new robot with a smaller fuselage diameter (170 mm, 50.2% cross-sectional area compared to prior work at 240 mm) to reduce hydrodynamic drag while maintaining propulsive output. To realize this compact design, we developed a novel submersible geared servomotor using a cycloidal reduction mechanism, enabling four actuators to be arranged linearly within the narrow fuselage. Swimming experiments showed a peak speed of 2.0 m/s (2.36 BL/s) during acceleration, approaching the prior robot's maximum speed. Although attitude instability prevented full speed convergence, results strongly suggest that fuselage diameter reduction is effective for speed enhancement.

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