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

ROBOMECH Journal

Table 3 Simulation results of swimming speeds for four conditions

Condition	Shoulder joints	Knee joints	Swimming speed [m/s]	Increase amount [%]
1	Measured	Measured	0.118	0
2	Target	Measured	0.162	37
3	Measured	Target	0.166	41
4	Target	Target	0.21	78

In condition 1, the measured knee and shoulder joint angles were put into the simulation. In condition 2, the target values of the joint angles for the shoulders were put into the simulation instead of the measured values. In condition 3, the target values for the knees were put into the simulation. In condition 4, the target values both for the shoulders and knees were put into the simulation