Fig. 4
From: Realization and swimming performance of the breaststroke by a swimming humanoid robot
Overview of creating the swimming motion. The target position and orientation of the body segments were first calculated in SWUM by forward kinematics. The joint angles of the robot were then calculated by inverse kinematics, considering the motions of the scapular parts. Once the joint angles were obtained, they were put into CAD software, and the motions were checked visually. Finally the motions were confirmed in a test on land