Elucidation of whole mechanism for unsteady fluid forces acting on a human body in swimming by a whole-body-driven swimmer robot

阐明全身驱动游泳机器人游泳时作用于人体的非定常流体力的整体机制

• 批准号: 23300229
• 负责人: NAKASHIMA Motomu
• 金额: $ 12.56万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011-04-01 至 2014-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23300229/
• 关键词: 水泳; スポーツバイオメカニクス; スイマーロボット; 非定常流体力; モデリング; シミュレーション; 流体力学; ロボティクス

A swimmer robot which could move the whole body was firstly developed in the present study. This humanoid robot has half scale as an actual competitive swimmer and has 20 servo motors inside the body. This robot can precisely reproduce the swimming motion of a human. This robot was mounted in a circulating water tank. The swimming motion of the crawl stroke was performed by the robot. The unsteady fluid force acting on the whole robot was experimentally measured. As a result, it was experimentally confirmed that the thrust was produced when the hand pushed the water.

本研究首次研制了一种能够进行全身运动的游泳机器人。这个人形机器人有一半规模作为一个真正的竞争游泳运动员，并有20个伺服电机内的身体。这个机器人可以精确地模仿人类的游泳动作。这个机器人被安装在一个循环水箱里。爬泳的游泳动作由机器人完成。实验测量了作用在整个机器人上的非定常流体力。结果，通过实验证实了当手推动水时产生推力。

项目成果

Development of a Swimming Humanoid Robot as an Experimental Platform of Human Swimming

作为人类游泳实验平台的游泳人形机器人的研制

• 发表时间: 2013
• 作者: 高倉久志;増田和実;Changhyun Chung and Motomu Nakashima
• 通讯作者: Changhyun Chung and Motomu Nakashima

Development of the Upper Body of an Underwater Humanoid Robot for Research of Unsteady Fluid Forces Acting on a Swimmer

用于研究作用于游泳者的非定常流体力的水下人形机器人上半身的开发

• 发表时间: 2012
• 作者: Howard Civil Service International House;Taipei;Taiwan
• 通讯作者: Taiwan

Realization of Free Swimming in the Crawl Stroke by a Humanoid Robot

仿人机器人自由泳自由泳的实现

• 发表时间: 2013
• 作者: Ramada Plaza Jeju Hotel;Jeju;Korea
• 通讯作者: Korea

水泳人体シミュレーションモデルSWUM

游泳人体仿真模型SWUM

Development of a Swimming Humanoid Robot for Research of Human Swimming

用于人类游泳研究的游泳人形机器人的开发

• 发表时间: 2013
• 期刊: Journal of Aero Aqua Bio-mechanisms
• 作者: Aoi Ikedo;Aya Ishibashi;Matsumiya Saori;Aya Kaizaki;Atsushi Yuhaku;Satoshi Fujita;Kumiko Ebi;Changhyun Chung and Motomu Nakashima
• 通讯作者: Changhyun Chung and Motomu Nakashima