Simulation and Sub-Optimal Motion Planning of a Swimmer under Hydrodynamics.
Kazunori Shinohara, Tomonari Furukawa, Genki YAGAWA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2002
In this paper, approximate techniques for dynamically simulating the swimming motion and for planning its optimal motion are proposed. In the simulation technique, the formulation of the dynamic equations subject to the propulsion force under water is presented and the equations are used to find the swimming motion subsequently. As a simple numerical example for the motion of the whole human body, the backstroke was simulated. The results of the simulation show that the technique can improve the reality of motion although this is still the first step for the simulation of swimming of the human body.