ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P2-F09
会議情報

ドルフィンキック研究のための空気圧駆動筋骨格ヒューマノイドの開発
*石井 康彬西川 鋭新山 龍馬國吉 康夫
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会議録・要旨集 フリー

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The dolphin kick is the swimming style with an undulation of a body conducted after start and turn. Practicing dolphin kick is one of the effective way for improving swimmers' record. It has been researched using real swimmers, simulation and robots. Dolphin kick research requires a combination of these methods. However, existing robots have inadequate points including their body size and lack of a flexible spine. Thus, we developed human-scale pneumatically actuated musculoskeletal humanoid called Triton. It has flexible spine and adjustment system for lumbar joint stiffness. We conducted preliminary experiments that compare time-series of thrust force and joint angle between Triton and experimental results with simulations and human data.

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