Development of a Musculoskeletal Humanoid Robot as a Platform for Biomechanical Research on the Underwater Dolphin Kick

Yasuaki Ishii, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

The dolphin kick is a swimming style characterized by undulation of the body. As a platform for swimming research, we have developed a musculoskeletal humanoid robot called Triton. Triton has a flexible spine with erector spinae muscles and a stiffness adjustment system for lumbar joints. The musculoskeletal body includes biarticular and polyarticular muscles, providing multi-joint coordination. The robot is actuated by pneumatic muscles, yielding lightweight and inherently waterproof properties. The compliance of the joints allows interactions between body and fluid similar to those of human swimming. This study presents the design concept of Triton and experimental results from a water tank test. We compare the results with simulation and human movements reported in literature. The results show that the musculoskeletal swimming robot has similar cycle trends in joint angle and thrust force.

本文言語英語
ホスト出版物のタイトル2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3285-3291
ページ数7
ISBN(電子版)9781538680940
DOI
出版ステータス出版済み - 12月 27 2018
外部発表はい
イベント2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, スペイン
継続期間: 10月 1 201810月 5 2018

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

会議

会議2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
国/地域スペイン
CityMadrid
Period10/1/1810/5/18

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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