Tunas and dolphins can swim first in the ocean, whales can wander about huge range in the ocean, jellyfishes drift in the ocean, rays skim the seafloor and so on, sea lives got the most suitable form to let each life prosper. The use of Autonomous Underwater Vehicles (AUVs) is now widespread among the underwater observation and survey. Because AUVs are not restricted by an umbilical cable, we think that AUVs have the most suitable form to collect ocean data or work depending on subjects of survey efficiently in the same way as the sea lives with various forms. For example, form to collect ocean data while cruising in a huge range, form to collect the topography data of the seafloor and under the bottom of the sea while cruising with following seafloor, form to work such as the collection of the rock of the seafloor or the setting of the sensor on the seafloor, form to collect ocean data slowly and carefully without moving the investigation spot against the current and so on. The paper reported that concepts of the body design and model experimental results.