Improvement of breaststroke for the swimming humanoid robot

抄録

Breaststroke swimming has been already realized by the swimming humanoid robot, SWUMANOID. This robot is half scale of human, has 24 servo motors, gyro sensors and wireless communication device. During the kicking motion, the knee joints are rotating shanks to generate propulsive force. In order to increase the swimming speed, it was found that the angular speed of knee joint motors are not fast enough to reach target speed. Gear modification of the gear box of knee joint motors was proposed to increase the angular speed. However, the maximum output torque will decrease while the angular speed was increased. Therefore, the spring structure was proposed to compensate the torque in this study.