| 摘要 |
A submersible vehicle has a vehicle main body (200), and a propelling/steering mechanism provided for the vehicle main body (200) characterized in that said propelling/steering mechanism is provided with a plurality of swinging wings (1a, 1b) provided for the vehicle main body (200) and arranged in series, rotatable shafts (4, 5) located at front edges of the swinging wings (1a, 1b), respectively, actuators (14, 15) for driving the shafts (4, 5) independently of one another, and a wing controller (6) for controlling the actuators (14, 15) in such a manner that the wings (1a, 1b) can swing in a flexible manner like the tail fin of a fish, thereby producing a desired propelling force and enabling a steering operation. <IMAGE> |
