Abstract
This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Subsequently, the robot will be able to pass through gates with LiDAR sensors. By using ZMP control, the robot can avoid falling down while tracking its desired path. The performance of the proposed stabilization method and autonomous turning algorithm are verified by a dynamics simulation software, Webots, and the simulation results are obtained while using the small humanoid robot platform DARwIn-OP.
Highlights
Research into humanoid robots is one of the most exciting topics in the field of robotics
This study constructed a simulator environment that is similar to an actual ski slope and modeled the leaning angle of the body by inputting the desired turn radius
We modeled the force that is required to move the robot in the input turn radius and implemented a gate passing algorithm while using a light detection and ranging (LiDAR) sensor
Summary
Research into humanoid robots is one of the most exciting topics in the field of robotics. The Ski Robot Challenge was held for the first time during the PyeongChang Winter. From this perspective, the importance of skiing robot is increasing. The importance of skiing robot is increasing Humanoid robots are those with two legs and there have been many developments in their walking abilities over the last decade. The zero-moment point (ZMP) is another concept [3]. It is possible for a robot to maintain stability by moving its center of mass (CoM) to control the ZMP. These concepts are useful for skiing robots
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