Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming

Changhyun Chung; Motomu Nakashima

doi:10.20965/jrm.2014.p0265

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JRM Vol.26 No.2 pp. 265-266

doi: 10.20965/jrm.2014.p0265

(2014)

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Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming

Changhyun Chung^* and Motomu Nakashima^**

^*Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology, Japan

^**Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan

Received:

October 27, 2013

Accepted:

February 3, 2014

Published:

April 20, 2014

Keywords:

swimming, humanoid robot, crawl stroke

Abstract

The objective of this study was to develop a humanoid robot for research about human swimming. In order to replace a swimmer as a subject, a humanoid robot “SWUMANOID” was developed imitating the details of a human, such as appearance and body properties. To reproduce the swimming motion based on that of an actual swimmer, a joint imitating the human’s scapular retraction was installed and the methodology to realize the swimming motion with that joint was established. To validate the performance of the robot, two experiments were conducted. The crawl stroke motion was examined in the fixed state and the swimming performance was validated by a free swimming experiment.

Cite this article as:

C. Chung and M. Nakashima, “Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming,” J. Robot. Mechatron., Vol.26 No.2, pp. 265-266, 2014.

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References

[1] E. W. Maglischo, “Swimming Fastest,” Human Kinetics, Vol.1, p. 97, 2003.
[2] H. M. Toussaint, C. Van Den Berg, and W. J. Beek, “Pumped-up propulsion during front crawl swimming,” Medicine and science in sports and exercise, Vol.34, No.2, pp. 314-319, 2002.
[3] C. Chung and M. Nakashima, “Development of a Swimming Humanoid robot for Research of Human Swimming,” J. of Aero Aqua Bio-mechanisms, Vol.3, No.1, pp. 109-117, 2013.
[4] C. Chung and M. Nakashima, “Free Swimming of the Swimming Humanoid Robot for the Crawl Stroke,” J. of Aero Aqua Biomechanisms, Vol.3, No.1, pp. 118-126, 2013.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] E. W. Maglischo, “Swimming Fastest,” Human Kinetics, Vol.1, p. 97, 2003.

[2] [2] H. M. Toussaint, C. Van Den Berg, and W. J. Beek, “Pumped-up propulsion during front crawl swimming,” Medicine and science in sports and exercise, Vol.34, No.2, pp. 314-319, 2002.

[3] [3] C. Chung and M. Nakashima, “Development of a Swimming Humanoid robot for Research of Human Swimming,” J. of Aero Aqua Bio-mechanisms, Vol.3, No.1, pp. 109-117, 2013.

[4] [4] C. Chung and M. Nakashima, “Free Swimming of the Swimming Humanoid Robot for the Crawl Stroke,” J. of Aero Aqua Biomechanisms, Vol.3, No.1, pp. 118-126, 2013.

Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming

Changhyun Chung* and Motomu Nakashima**

Changhyun Chung^* and Motomu Nakashima^**