Free Swimming of the Swimming Humanoid Robot for the Crawl Stroke

DOI 被引用文献6件 参考文献9件 オープンアクセス
  • Chung Changhyun
    Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology
  • Nakashima Motomu
    Department of Mechanical and Control Engineering, Tokyo Institute of Technology

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説明

The objective of this study was to realize the free swimming of the crawl stroke with the previously developed swimming humanoid robot. The upper body of the robot was remodeled to fit a free swimming test. The developed robot was simulated to raise feasibility of the crawl stroke. Through the simulation, two improved models were proposed. In the experiment, the swimming humanoid robot was fitted to the two simulation models and both realized the crawl stroke successfully. The measured roll angle was about ± 60 degrees and the swimming speed was between 0.2 m/s and 0.24 m/s.

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詳細情報 詳細情報について

  • CRID
    1390001205342949760
  • NII論文ID
    130003375390
  • DOI
    10.5226/jabmech.3.118
  • ISSN
    21851522
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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