著者

桑原 宏介 中島 求

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._3A1-J05_1-_3A1-J05_4, 2014-05-24 (Released:2017-06-19)

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The objective of this study was to measure thrust for crawl stroke by using a humanoid robot. The swimming humanoid robot had 20 servo motors for the whole body and could perform basic human swimming motion except for the breaststroke. A driving mechanism to move the humanoid robot in pitching, heaving and rolling motions was installed. Force sensors and a circulation tank which could make water flow was used for the measurement system. The thrust was measured when the robot performed standard crawl stroke motion at 9.0 s cycles. The positive thrust could be measured while the arm was paddling the water. It was also confirmed that insufficient recovery stroke generated the negative thrust.