We studied the self-propulsion of a camphor disk floating on a water surface using two types of ionic liquids (hexylammonium-trifluoroacetate (HHexam-TFA) and hexylethylenediaminium-trifluoroacetate (HHexen-TFA)). Bifurcation between continuous, oscillatory, and no motion was observed depending on the concentration of the ionic liquid. The bifurcation concentration between oscillatory and no motion for HHexam-TFA was lower than that for HHexen-TFA. The different bifurcation concentrations are discussed in relation to the surface tension and Fourier transform infrared spectra of the mixtures of camphor and ionic liquids. These results suggest that the interaction between the ionic liquid molecules at the air/water interface is weakened by the addition of camphor molecules and the features of self-propulsion vary due to the change in the driving force.