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Table 3 Simulation results of swimming speeds for four conditions

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

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
  1. 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