Preliminary Experiment of Backstroke by the Swimming Humanoid Robot

Razi, Fakhrur; Nakashima, Motomu

doi:10.1299/jsmermd.2018.2p2-f11

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2019

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“…Therefore, the present study objectives were to realize the backstroke by the robot and investigate its swimming performance. The preliminary experiment has been conducted in the past [19]. However, the swimming performance of the robot in the previous experiment still can be improved.…”

Section: Introductionmentioning

confidence: 99%

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: Introductionmentioning

confidence: 99%