The development of autonomous underwater robots is required for the ecological survey of aquatic life.Conventional underwater robots have a common mechanism for propulsion with screw propellers.Noises generated by screw propellers have a possibility of giving a bad effect on the biological behavior.Robots mimicking fish propulsion mechanisms are less likely to seriously affect living things.In our laboratory,a Manta robot that has a propulsion mechanism with pectoral fins has been developed.The operation range of the conventional Manta robot was limited by a cable for remote control.It needs an autonomous navigation system based on localization not so as to be restricted by cables.Constructing the model that takes into consideration the thrust of propulsion mechanisms with pectoral fins is expected to be used for localization.In this paper,we analyze the thrust of propulsion mechanisms with pectoral fins,using a Wei's model.In addition,we compare the analysis results with ones obtained by an actual Manta robot,and verify whether the analysis is correct.
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