TY - GEN
T1 - Development of a Musculoskeletal Humanoid Robot as a Platform for Biomechanical Research on the Underwater Dolphin Kick
AU - Ishii, Yasuaki
AU - Nishikawa, Satoshi
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2018.8593912
DO - 10.1109/IROS.2018.8593912
M3 - Conference contribution
AN - SCOPUS:85062945710
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3285
EP - 3291
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -