Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
The swimming humanoid robot called SWUMANOID was developed for underwater motion study. It had 24 servo motors that could achieve four swimming strokes, including crawl stroke, backstroke, butterfly stroke and breaststroke. However, the swimming direction of the robot was not stable and could not be controlled in the previous researches. In this study, a new mechanism was proposed to control the swimming direction. Meanwhile, the mechanism control algorithm was decided based on the simulation results. From the simulation, it was found that the robot could change the direction at 9.38, 5.98, 5.54 and 9.79 degrees for the crawl, back, butterfly and breaststrokes respectively. In experiment, attitude heading reference system was used to obtain the robot yaw angle as an evaluation index. The experiment showed the robot could also change the direction with this new mechanism.
