A marine propulsion unit includes a stern drive mounted to a transom. The stern drive comprises an upper unit enclosed in a stern drive housing and a lower unit enclosed in a gearbox housing; wherein the gearbox housing contains a gearbox arranged to drive at least one propeller. The propulsion unit further comprises at least two electric motors arranged in the stern drive housing, which electric motors are mounted with vertical output shafts; a planetary gear set arranged between the at least two electric motors and the gearbox, and a vertical shaft that is attached to a ring gear of the planetary gear set at its upper end and is connected to the gearbox at its lower end; wherein the output shaft of each electric motor is connected to a planetary gear arranged in the planetary gear set to drive the ring gear and the vertical shaft connected to the gearbox.

An outboard motor includes: an upper case supported on a hull; a lower case pivotably supported on the upper case; a first drive source disposed within the upper case; a planetary gear mechanism connected to the first drive source via an upper drive shaft; a propeller shaft connected to the planetary gear mechanism via a lower drive shaft; and a second drive source that provides the lower case with a torque. The planetary gear mechanism includes a sun gear, a planetary carrier supporting planetary gears and connected to an upper end of the lower drive shaft, and an internal gear. One of the sun gear and the internal gear is connected to the lower end of the upper drive shaft, and the other is connected to the lower case to provide the lower case with a torque in a direction opposite to a rotation direction of the lower drive shaft.

An outboard motor includes: an upper case supported on a hull; a lower case pivotably supported on the upper case; a first drive source disposed within the upper case; a planetary gear mechanism connected to the first drive source via an upper drive shaft; a propeller shaft connected to the planetary gear mechanism via a lower drive shaft; and a second drive source that provides the lower case with a torque. The planetary gear mechanism includes a sun gear, a planetary carrier supporting planetary gears and connected to an upper end of the lower drive shaft, and an internal gear. One of the sun gear and the internal gear is connected to the lower end of the upper drive shaft, and the other is connected to the lower case to provide the lower case with a torque in a direction opposite to a rotation direction of the lower drive shaft.

An outboard motor includes: an upper case supported on a hull; a lower case pivotably supported on the upper case; a first drive source disposed within the upper case; a planetary gear mechanism connected to the first drive source via an upper drive shaft; a propeller shaft connected to the planetary gear mechanism via a lower drive shaft; and a second drive source that provides the lower case with a torque. The planetary gear mechanism includes a sun gear, a planetary carrier supporting planetary gears and connected to an upper end of the lower drive shaft, and an internal gear. One of the sun gear and the internal gear is connected to the lower end of the upper drive shaft, and the other is connected to the lower case to provide the lower case with a torque in a direction opposite to a rotation direction of the lower drive shaft.

An outboard motor includes: an upper case supported on a hull; a lower case pivotably supported on the upper case; a first drive source disposed within the upper case; a planetary gear mechanism connected to the first drive source via an upper drive shaft; a propeller shaft connected to the planetary gear mechanism via a lower drive shaft; and a second drive source that provides the lower case with a torque. The planetary gear mechanism includes a sun gear, a planetary carrier supporting planetary gears and connected to an upper end of the lower drive shaft, and an internal gear. One of the sun gear and the internal gear is connected to the lower end of the upper drive shaft, and the other is connected to the lower case to provide the lower case with a torque in a direction opposite to a rotation direction of the lower drive shaft.

A robotic fish includes a pair of rear lateral gears controlling a rear portion of the robotic fish, and a pair of front lateral gears control a front portion of the robotic fish. A pair of right side lateral gears control a right pectoral side of the robotic fish, and a pair of left side lateral gears control a left pectoral side of the robotic fish.

A robotic fish includes a pair of rear lateral gears controlling a rear portion of the robotic fish, and a pair of front lateral gears control a front portion of the robotic fish. A pair of right side lateral gears control a right pectoral side of the robotic fish, and a pair of left side lateral gears control a left pectoral side of the robotic fish.