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Stability Control and Turning Algorithm of an Alpine Skiing Robot.

Si-Hyun Kim1, Bumjoo Lee2, Young-Dae Hong3

  • 1Department of Electrical and Computer Engineering, Ajou University, Suwon 16499, Korea.

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|August 28, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a novel stability control method for bipedal alpine skiing robots, utilizing zero-moment-point (ZMP) control and LiDAR-guided turning. This approach enables robots to navigate complex snowy terrains and avoid falls during autonomous skiing.

Keywords:
navigation based on LiDAR sensorskiing robotstability controlturn radius

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Simulating snow conditions for alpine skiing robots is challenging due to snow's complex properties.
  • Real-world experiments with skiing robots are difficult and time-consuming owing to varied environmental conditions.

Purpose of the Study:

  • To develop a general stability control method for bipedal alpine skiing robots.
  • To create an autonomous turning algorithm for robots using LiDAR sensors.
  • To enable humanoid robots to ski through gates by accurately tracking desired turning radii.

Main Methods:

  • Implemented a stability control method based on the zero-moment-point (ZMP) concept.
  • Developed a turning algorithm incorporating light detection and ranging (LiDAR) sensor data.
  • Utilized a physics-based simulation environment (Webots) for validation.
  • Employed the DARwIn-OP humanoid robot platform in simulations.

Main Results:

  • The proposed ZMP control method effectively prevents bipedal robots from falling while executing turns.
  • The LiDAR-guided turning algorithm allows robots to accurately track desired turning radii.
  • Simulation results demonstrate the feasibility of the stabilization and autonomous turning strategies.

Conclusions:

  • The developed method provides a viable approach for stable autonomous skiing in humanoid robots.
  • The combination of ZMP control and LiDAR sensing offers a robust solution for robot navigation in complex terrains.
  • The validated simulation model can be used to further research and development in robotic skiing.