Tadpole-like tail physics

Hi!

I've been wanting to learn Unity for a while now, but only recently found enough time to get started.

I'm trying to create a nanorobot that uses 3 tadpole tails to propell itself forward. This is an animated gif rendered in 3DS Max that demonstrates what I'd like to create in Unity. However, as the nanobot is swimming in water, I also want the tails to behave somewhat physically correct when you turn the nanobot around.

I modeled 10 segments of the tail, and linked them together with hinges, each one linked to the previous segment. The very first segment is attached to the nanobot by another hinge. I also added a script to that first segment that rotates it back and forth, but it doesn't take into account the rotation of the nanobot yet. However, as you can see in this web player build the tail doesn't really look very natural at all.

Any ideas how I can improve this system?

Oh, and before I forget, I live in Belgium, where we use pesky AZERTY keyboards, so I changed the controls from WASD to ZQSD - you might want to use the arrow keys instead.

Thanks in advance,

Davy