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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
  1. 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