Abstract
The swimming humanoid robot "SWUMANOID" was developed in the previous study for research of human swimming. The crawl stroke and breaststroke have been already realized by the robot. However, the butterfly stroke has not been realized to date. Therefore, the objective of this study was to realize the free swimming of the butterfly stroke with the robot. The robot were developed on a half scale, and had 24 specially waterproofed motors inside the body. The swimming motion of butterfly stroke was created and examined by means of the simulation. The swimming experiment was conducted at a swimming pool. The swimming motion was filmed by a video camera. The swimming speed was estimated from the filmed images. As a result, the constant propulsion by the robot was confirmed. The swimming speed in the experiment was found to be 0.17〜0.20 m/s for the stroke cycle of 3.5 s. It was somewhat lower than that in the simulation.
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