201. Stability Control and Turning Algorithm of an Alpine Skiing Robot
- Author
-
Young-Dae Hong, Bum-Joo Lee, and Si-Hyun Kim
- Subjects
0209 industrial biotechnology ,Computer science ,02 engineering and technology ,lcsh:Chemical technology ,computer.software_genre ,Biochemistry ,Article ,Analytical Chemistry ,020901 industrial engineering & automation ,turn radius ,0202 electrical engineering, electronic engineering, information engineering ,lcsh:TP1-1185 ,navigation based on LiDAR sensor ,Turning radius ,Electrical and Electronic Engineering ,Instrumentation ,skiing robot ,stability control ,Ranging ,Atomic and Molecular Physics, and Optics ,Simulation software ,Lidar ,Electronic stability control ,Path (graph theory) ,Robot ,020201 artificial intelligence & image processing ,computer ,Algorithm ,Humanoid robot - 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.
- Published
- 2019