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

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 attaching device to SWUMANOID. The objective of this study was to find better stroke which can improve the rolling performance during measuring propulsive force of crawl stroke by using the constructed experimental system. First, a simulation model which reproduced the experimental system was constructed. The better stroke was obtained by using the optimization method with Particle Swarm Optimization (PSO) and SWUM. In this method, the design variables were the joint angles of the left upper limbs for three degrees-of-freedom at the shoulder joint and two degrees-of-freedom at the elbow joint. The objective function was to minimize the difference of roll motion compared to the standard crawl. As a result, the difference of roll angle became 73% smaller than that of the previous motion and the timing of roll motion became late, resulting in the successful recovery motion.