This study clarifies the effect of the wings' feathering on the forward swimming performance of a robotic penguin capable of flapping and feathering like a penguin. Feathering, a rotation around the wing’s long axis, changes the wing’s angle of attack, drastically altering thrust magnitude and direction. Forward speed, acceleration, and cost of transport (CoT) were measured for various feathering amplitudes. The highest terminal speed of 1.8 m/s, acceleration of 1.0 m/s2, and lowest CoT of 15.1 J/kg·m were achieved with feathering amplitudes of 20°, 50°, and 60°, respectively. These results indicate feathering effectively switches the characteristics of forward swimming performance.
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