Typical animal locomotion is achieved by the rhythmical undulation of its body segments while interacting with its environment. It inspires the mechanical design of multilink locomotors. With different postures, a multilink system may present different locomotion gaits. Recently, a so-called natural oscillation gait was studied for multilink systems, and a class of biologically inspired controllers was designed for the achievement of the gait. In this paper, the theoretical design is experimentally applied on a mechanical multilink testbed of two posture configurations in rayfish-like flapping-wing motion and snake-like serpentine motion. The effectiveness of the design is cross examined by theoretical analysis, numerical simulation, and experiments.