Development of a Swimming Humanoid robot for Research of Human Swimming

• Chung Changhyun

  Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology

• Nakashima Motomu

  Department of Mechanical and Control Engineering, Tokyo Institute of Technology

抄録

In this study, the swimming humanoid robot SWUMANOID for research of human swimming was developed. It was half the size of a real human and had the same body proportions and appearance; mass distribution was considered, as well. It was actuated by 20 motors, which were waterproofed and compactly designed. Swimming motions were determined based on human swimming movements. To realize the swimming arm stroke, a joint imitating the human's scapular retraction was installed and the methodology to realize the swimming motion with that joint was established. Finally, the efficiency of the design was validated by simulation and representatively, the crawl stroke was successfully realized in the water tank.

収録刊行物

• Journal of Aero Aqua Bio-mechanisms

  Journal of Aero Aqua Bio-mechanisms 3 (1), 109-117, 2013

  エアロ・アクアバイオメカニズム学会

キーワード

• Swimming
• Humanoid
• Kinematics
• SWUMANOID
• SWUM

詳細情報

• CRID: 1390282680319666944
• NII論文ID: 130003375389
• DOI: 10.5226/jabmech.3.109
• ISSN: 21851522
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可