水中における偏心パドル機構の新たな水泳方法の提案

抄録

A wheel-paddle integrated mechanism was developed for realizing various locomotion patterns to adapt to complicated amphibious environment. The previous work has proved the effectiveness of oscillating paddling gait which mimics the swimming of fish. However, negative forces were found during the oscillating motion, which reduced the efficiency of propulsion. In this paper, a novel free style swimming mode is proposed to solve this problem. It is inspired by a kind of human swimming strokes. We realized it in the wheel-paddle mechanism and experimentally measured the propelling forces. Comparing with the oscillating paddling mode, the results of free style swimming mode have shown better performance.