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

ROBOMECH Journal

Table 1 Specifications of improved SWUMANOID

Items	Specifications
Size	(H) 925 mm (W) 270 mm (D) 119 mm
Weight	7.4 kg
Actuators (dynamixel: Robotis Corp.)	RX28: 2.5 Nm (at 14.8 V) MX28: 3.1 Nm (at 14.8 V) MX28: 7.3 Nm (at 14.8 V)
DOF	Total: 24 DOFs Arm: 2 arms × 6 DOF Waist: 2 DOF Leg: 2 legs × 3 DOF
Controller	CM700 (Robotis Corp.)
Battery	Li-Po 14.8 V 1550 mhA × 2
Communication	ZigBee module ZIG-110A

Dynamixel MX64 (Robotis inc., Seoul) was used for Waist joint, hip joint 1, hip joint 2, and knee joint, while dynamixel MX28 was used for hip joint 3 and ankle joint. CM700 (Robotis inc.) and ZIG-110A (Robotis inc.) were used for the controller of the robot and wireless communication