Title :
Swimmable humanoid robot
Author :
Ikeda, Takekazu ; Miyazi, Chikara
Author_Institution :
Yamaha Corp., Hamamatsu, Japan
fDate :
31 Aug-4 Sep 1998
Abstract :
A prototype of a humanoid robot which can swim in butterfly strokes has been constructed for use in place of artificial legs in water. After drawing a stick picture of swimming, by a professional swimmer, robot control functions were defined by mathematical expressions. In accordance with the determined robot control functions, the propelling speed, defined by the distance per stroke, was measured to be 0.25 meter/stroke. The hardware of the swimmable humanoid robot was constructed using three stepping motors, electronic circuits and a microprocessor. Mathematica was used to control the processor. During swimming over a distance of 5 strokes, the center of gravity (COG) was shifted and however it was as small as within 0.02 meter in the vertical direction. This prototype was 0.45×0.12×0.06(m3) in size. The size of the robot can be extended if used as a man-machine interface
Keywords :
electric control equipment; marine systems; microcomputer applications; mobile robots; propulsion; stepping motors; 0.06 m; 0.12 m; 0.45 m; Mathematica; center of gravity; control design; control performance; man-machine interface; microprocessor; propelling speed; robot control functions; stepping motors; swimmable humanoid robot; Electronic circuits; Hardware; Humanoid robots; Leg; Micromotors; Microprocessors; Propulsion; Prototypes; Robot control; Velocity measurement;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.724264
