Abstract
The objective of this study was to investigate propulsive performance of the breaststroke by the swimming humanoid robot. The developed swimming humanoid robot had 24 servo motors for the whole body and could perform basic human swimming motion. For the breaststroke, however, the propulsive performance was not fully investigated in the previous report since the buoyancy balance was not sufficient. In this report, the buoyance balance was adjusted and a free swimming experiment was conducted again. As a result, it was found that the robot could swim at the swimming speed of 0.12m/s for the stroke cycle of 2.3 s.
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