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Stability Control and Turning Algorithm of an Alpine Skiing Robot

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 charac...

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Detalles Bibliográficos
Autores principales: Kim, Si-Hyun, Lee, Bumjoo, Hong, Young-Dae
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6749262/
https://www.ncbi.nlm.nih.gov/pubmed/31450736
http://dx.doi.org/10.3390/s19173664
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author Kim, Si-Hyun
Lee, Bumjoo
Hong, Young-Dae
author_facet Kim, Si-Hyun
Lee, Bumjoo
Hong, Young-Dae
author_sort Kim, Si-Hyun
collection PubMed
description 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.
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spelling pubmed-67492622019-09-27 Stability Control and Turning Algorithm of an Alpine Skiing Robot Kim, Si-Hyun Lee, Bumjoo Hong, Young-Dae Sensors (Basel) Article 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. MDPI 2019-08-23 /pmc/articles/PMC6749262/ /pubmed/31450736 http://dx.doi.org/10.3390/s19173664 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Kim, Si-Hyun
Lee, Bumjoo
Hong, Young-Dae
Stability Control and Turning Algorithm of an Alpine Skiing Robot
title Stability Control and Turning Algorithm of an Alpine Skiing Robot
title_full Stability Control and Turning Algorithm of an Alpine Skiing Robot
title_fullStr Stability Control and Turning Algorithm of an Alpine Skiing Robot
title_full_unstemmed Stability Control and Turning Algorithm of an Alpine Skiing Robot
title_short Stability Control and Turning Algorithm of an Alpine Skiing Robot
title_sort stability control and turning algorithm of an alpine skiing robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6749262/
https://www.ncbi.nlm.nih.gov/pubmed/31450736
http://dx.doi.org/10.3390/s19173664
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