Abstract
This paper presents the design, control, and application of a novel six-legged skiing robot (SLSR) on flat and slope terrains. Imitating human skiing behavior, a unique ski with 5 degrees of freedom (DOFs) is designed, where the front and rear legs on the same side are connected to a ski, respectively. Each of the two middle leg tips has a ski stick. In order to improve the locomotion ability on the flat and uphill, we utilize a ducted-fan propulsion system (DFPS) to provide forward power. Then a new skiing control strategy is developed, which consists of a trajectory planner and a centroid balance controller (CBC). Finally, we conducted skiing experiments on a flat snow surface and slopes. The results show that the SLSR could successfully accelerate, decelerate, turn, and brake. Moreover, the SLSR can slide in a large range on flat ground and maintain a stable attitude. On the primary ski slope, the SLSR can go downhill as well as uphill.
This work was supported by the National Key Research and Development Program of China under Grants 2021YFF0307900 and 2021YFF0306202.
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Yang, L. et al. (2023). Design and Control of a Novel Six-Legged Robot for Flat, Downhill, and Uphill Skiing. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_40
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DOI: https://doi.org/10.1007/978-981-99-6495-6_40
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