To provide a flapping type floating moving device showing a stable motion at its blades.

A flapping motion of a flapping type floating moving device is a reciprocating motion where its frequency is repeated with 25 Hz and constituted by two types of motion. One of the two types is a rotational reciprocating motion in a forward or rearward direction with a specified angular velocity and the other is a sine wave motion where a positive code and a negative code of angular velocity are reversed when the blades change its motion. In addition, in view of the angular velocity, a line indicating the sine wave motion connects smoothly linear lines indicating a rotational reciprocating motion to each other. During a specified period, a control part changes one control operation in which the rotational reciprocating motion is carried out at the blades into the other control operation in which the sine wave motion is carried out at the blades.