ROBOMECH Journal

Table 2 Parameters of body segments

From: Realization and swimming performance of the breaststroke by a swimming humanoid robot

Segment	Weight [g]	Added weight [g]	Volume [cm³]	Specific gravity
Hip	426		410	1.04
Thigh × 2	1562		1460	1.07
Shank × 2	954		748	1.28
Foot × 2	106		200	0.53
Head and neck	368	335	679	1.02
Upper arm × 2	660		579	1.14
Elbow × 2	256		215	1.19
Forearm × 2	300		306	0.98
Breast × 2	1039		1514	0.7
Waist	838	583	1460	0.97
Whole upper body	3461	918	4753	0.92
Whole lower body	3048		2818	1.08
Total	7427		7571	0.98

The weight and volume of each body segment were measured. In order to adjust the total buoyancy, weights were installed in the head and abdomen parts. As a result, the total specific gravity became slightly smaller than 1

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