Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games
When a curling rock slides on an ice sheet with an initial rotation, a lateral movement occurs, which is known as the curling phenomenon. The force of friction between the curling rock and the ice sheet changes continually with changes in the environment; thus, the sport of curling requires great sk...
Published in: | Engineering |
---|---|
Main Authors: | , , , , , , , |
Format: | Article in Journal/Newspaper |
Language: | English |
Published: |
Elsevier
2024
|
Subjects: | |
Online Access: | https://doi.org/10.1016/j.eng.2023.10.018 https://doaj.org/article/678adfe574a041e7875470f3c6c90ba8 |
id |
ftdoajarticles:oai:doaj.org/article:678adfe574a041e7875470f3c6c90ba8 |
---|---|
record_format |
openpolar |
spelling |
ftdoajarticles:oai:doaj.org/article:678adfe574a041e7875470f3c6c90ba8 2024-09-15T18:12:16+00:00 Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao Yuguang Xiao Qiao Sun Jing Sun 2024-04-01T00:00:00Z https://doi.org/10.1016/j.eng.2023.10.018 https://doaj.org/article/678adfe574a041e7875470f3c6c90ba8 EN eng Elsevier http://www.sciencedirect.com/science/article/pii/S2095809924000729 https://doaj.org/toc/2095-8099 2095-8099 doi:10.1016/j.eng.2023.10.018 https://doaj.org/article/678adfe574a041e7875470f3c6c90ba8 Engineering, Vol 35, Iss , Pp 15-31 (2024) Legged robot Curling robot Winter Olympics Mechanism design Motion planning Engineering (General). Civil engineering (General) TA1-2040 article 2024 ftdoajarticles https://doi.org/10.1016/j.eng.2023.10.018 2024-08-05T17:49:14Z When a curling rock slides on an ice sheet with an initial rotation, a lateral movement occurs, which is known as the curling phenomenon. The force of friction between the curling rock and the ice sheet changes continually with changes in the environment; thus, the sport of curling requires great skill and experience. The throwing of the curling rock is a great challenge in robot design and control, and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements. A hexapod curling robot that imitates human kicking, sliding, pushing, and curling rock rotating was designed and manufactured by our group, and completed a perfect show during the Beijing 2022 Winter Olympics Games. Smooth switching between the walking and throwing tasks is realized by the robot’s morphology transformation based on leg configuration switching. The robot’s controlling parameters, which include the kicking velocity vk, pushing velocity vp, orientation angle θc, and rotation velocity ω, are determined by aiming and sliding models according to the estimated equivalent friction coefficient μequ and ratio e of the front and back frictions. The stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments, respectively, and the error shown in the experiments is close to that of a well-trained wheelchair curling athlete. This robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training. Article in Journal/Newspaper Ice Sheet Directory of Open Access Journals: DOAJ Articles Engineering |
institution |
Open Polar |
collection |
Directory of Open Access Journals: DOAJ Articles |
op_collection_id |
ftdoajarticles |
language |
English |
topic |
Legged robot Curling robot Winter Olympics Mechanism design Motion planning Engineering (General). Civil engineering (General) TA1-2040 |
spellingShingle |
Legged robot Curling robot Winter Olympics Mechanism design Motion planning Engineering (General). Civil engineering (General) TA1-2040 Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao Yuguang Xiao Qiao Sun Jing Sun Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
topic_facet |
Legged robot Curling robot Winter Olympics Mechanism design Motion planning Engineering (General). Civil engineering (General) TA1-2040 |
description |
When a curling rock slides on an ice sheet with an initial rotation, a lateral movement occurs, which is known as the curling phenomenon. The force of friction between the curling rock and the ice sheet changes continually with changes in the environment; thus, the sport of curling requires great skill and experience. The throwing of the curling rock is a great challenge in robot design and control, and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements. A hexapod curling robot that imitates human kicking, sliding, pushing, and curling rock rotating was designed and manufactured by our group, and completed a perfect show during the Beijing 2022 Winter Olympics Games. Smooth switching between the walking and throwing tasks is realized by the robot’s morphology transformation based on leg configuration switching. The robot’s controlling parameters, which include the kicking velocity vk, pushing velocity vp, orientation angle θc, and rotation velocity ω, are determined by aiming and sliding models according to the estimated equivalent friction coefficient μequ and ratio e of the front and back frictions. The stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments, respectively, and the error shown in the experiments is close to that of a well-trained wheelchair curling athlete. This robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training. |
format |
Article in Journal/Newspaper |
author |
Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao Yuguang Xiao Qiao Sun Jing Sun |
author_facet |
Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao Yuguang Xiao Qiao Sun Jing Sun |
author_sort |
Ke Yin |
title |
Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
title_short |
Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
title_full |
Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
title_fullStr |
Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
title_full_unstemmed |
Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games |
title_sort |
mechanism design and motion planning of a hexapod curling robot exhibited during the beijing 2022 winter olympics games |
publisher |
Elsevier |
publishDate |
2024 |
url |
https://doi.org/10.1016/j.eng.2023.10.018 https://doaj.org/article/678adfe574a041e7875470f3c6c90ba8 |
genre |
Ice Sheet |
genre_facet |
Ice Sheet |
op_source |
Engineering, Vol 35, Iss , Pp 15-31 (2024) |
op_relation |
http://www.sciencedirect.com/science/article/pii/S2095809924000729 https://doaj.org/toc/2095-8099 2095-8099 doi:10.1016/j.eng.2023.10.018 https://doaj.org/article/678adfe574a041e7875470f3c6c90ba8 |
op_doi |
https://doi.org/10.1016/j.eng.2023.10.018 |
container_title |
Engineering |
_version_ |
1810449856301367296 |