2018年12月27日
Development of a Musculoskeletal Humanoid Robot as a Platform for Biomechanical Research on the Underwater Dolphin Kick
IEEE International Conference on Intelligent Robots and Systems
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- 開始ページ
- 3285
- 終了ページ
- 3291
- 記述言語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1109/IROS.2018.8593912
- 出版者・発行元
- IEEE
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.
- リンク情報
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- DOI
- https://doi.org/10.1109/IROS.2018.8593912
- DBLP
- https://dblp.uni-trier.de/rec/conf/iros/IshiiNNK18
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85062945710&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85062945710&origin=inward
- URL
- https://dblp.uni-trier.de/conf/iros/2018
- URL
- https://dblp.uni-trier.de/db/conf/iros/iros2018.html#IshiiNNK18
- ID情報
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- DOI : 10.1109/IROS.2018.8593912
- ISSN : 2153-0858
- eISSN : 2153-0866
- DBLP ID : conf/iros/IshiiNNK18
- SCOPUS ID : 85062945710