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.


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    Title :

    Design and Control of a Novel Six-Legged Robot for Flat, Downhill, and Uphill Skiing


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Yang, Limin (author) / Yin, Yunpeng (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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