Abstract
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.
