Realization and Swimming Performance of the Butterfly Stroke by a Swimming Humanoid Robot

Nakashima, Motomu; Tsai, Chen-Chi

doi:10.5226/jabmech.6.9

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…Then, from the result of the forward kinematics, the joint angle for each actuator can be obtained by the inverse kinematics. The details were described in the previous research [18]. Once the joint angles of each actuator were determined, they were put into the robot, and the motion was confirmed in a test on land.…”

Section: B Generation Of Swimming Motionmentioning

confidence: 99%

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Realization and Swimming Performance of Backstroke by the Swimming Humanoid Robot

Razi

Nakashima

2019

J. Abmech

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The objective of this study was to realize the backstroke with the swimming humanoid robot. By realizing the backstroke, the backstroke performance of the robot was assessed regarding the speed and the swimming behavior. The motion for the robot was generated based on the motion of an actual swimmer. However, since the robot did not have sufficient degreesof-freedom to realize the motion, the actual motion was modified. The motion was investigated by simulation and later by the experiment. In the experiment, the robot successfully realized the backstroke at the stroke cycle 2.3 s with a swimming speed of 0.28 m/s.

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Section: B Generation Of Swimming Motionmentioning

confidence: 99%

“…The robot also has 24 degrees-of-freedom (DOF) with 24 actuators installed to realize the complex motion of human swimming. To date, the front crawl [15,16], the breaststroke [17], and the butterfly stroke [18] have been realized by the robot. However, the backstroke has not yet been realized.…”

Section: Introductionmentioning

confidence: 99%