水泳ヒューマノイドロボットのクロール泳におけるローリング性能の向上

―実験的検証―

抄録

In the previous study, an experimental system to measure propulsive force during swimming using the humanoid robot SWUMANOID was constructed. However, the recovery motion of crawl stroke was not appropriate because of the earlier timing of the rolling motion, which was caused by an attaching device to SWUMANOID. Also in the previous study, the better stroke which can improve the rolling performance in those experimental condition was found by an optimizing calculation. The objective of this study was to examine the validity of the stroke obtained in the previous study by a free swimming experiment. Two types of improved stroke were created and free swimming tests were conducted for those strokes. Since the significant improvement in the rolling performance could be found for the improved strokes, the validity of the proposed strokes were confirmed.