Generally, underwater vehicle type of propeller shows low efficiency about 50% - 55%. However, the efficiency of swimming mechanism of a fish is 60% -70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.