Preliminary Study of Backstroke by the Swimming Humanoid Robot

抄録

The swimming humanoid robot called SWUMANOID has been developed for research purpose. To date, the front crawl, the breaststroke, and the butterfly stroke have been realized by this robot. However, the backstroke has not been realized yet because of several problems. The first problem is the communication problem during an experiment. The second is that the motion of backstroke which adapted to SWUMANOID' DOFs has not been created. In this research, the creation of backstroke motion adapted to SWUMANOID is discussed. The swimming human simulation model SWUM was employed as a tool to obtain the swimming animation as well as the swimming speed and the straightness of swimming. Finally, the experimental plan was explained briefly in order to conduct an experiment in the future.