Hostname: page-component-76fb5796d-45l2p Total loading time: 0 Render date: 2024-04-25T10:48:45.968Z Has data issue: false hasContentIssue false
  • English
  • Français

Skiing robot - design, control, and navigation in unstructured environment

Published online by Cambridge University Press:  01 July 2009

Leon Lahajnar ,
Andrej Kos  and
Bojan Nemec
Leon Lahajnar*
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Andrej Kos
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Bojan Nemec
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
*
*Corresponding author. E-mail: leon.lahajnar@ijs.si
Get access Rights & Permissions [Opens in a new window]

Summary

The paper describes a skiing robot that is capable of skiing autonomously on a ski slope. The robot uses carving skiing technique. Based on a complex sensory system it is capable of autonomously navigating on the ski slope, avoiding obstacles, and maintaining a stable position during skiing on an unknown ski slope. The robot was tested using simulation in a virtual reality environment as well as on a ski slope.

Keywords

Robot designHierarchial controlMotion planningAutonomous motionVirtual reality
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 567 - 577
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Baltes, J. and Hildreth, N., “Adaptive Path Planner for Highly Dynamic Environments,” In: RoboCup 2000: Robot Soccer World Cup IV (Melbourne, Australia, 2001) pp. 76–85.CrossRefGoogle Scholar
2.Borenstein, J. and Koren, Y., “The vector field histogram - fast obstacle avoidance for mobile robots,” IEEE J. Robot. Automation 7 (3), 278–288 (1991).CrossRefGoogle Scholar
3.Fajen, B. R., Warren, W. H., Termizer, S. and Kaebling, L. P., “A dynamical model of steering, obstacle avoidance, and route selection,” Int. J. Comput. Vis. 54 (1–2), 13–34 (2003).CrossRefGoogle Scholar
4.Federolf, P. A., Finite Element Simulation of a Carving Snow Ski Ph.D. Thesis (2005). At Swiss Federal Institute of Technology Zurich.Google Scholar
5.Ge, S. S., Lai, X. C. and Al Mamun, A., “Sensor-based path planning for non-holonomic mobile robots subject to dynamic constraints,” Robot. Autonom. Syst. 55, 513–526 (2007).CrossRefGoogle Scholar
6.Hasegawa, K., Shimizu, S. and Yoshizawa, M., “Robotics applied to sports engineering,” Adv. Robot. 14 (5), 377–379 (2000).CrossRefGoogle Scholar
7.Howe, J., The New Skiing Mechanics (Mclntire Publishing, Waterford, ME, USA, 2001).Google Scholar
8.Huang, W. H., Fajen, B. R., Fink, J. R. and Warren, W. H., “Visual navigation and obstacle avoidance using a steering potential function,” Robot. Autonom. Syst. 54 (4), 288–299 (2006).CrossRefGoogle Scholar
9.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. Robot. Res. 5 (l), 90–98 (1986).CrossRefGoogle Scholar
10.Lahajnar, L., Kos, A. and Nemec, B., “Modelling and Control of Autonomous Skiing Robot,” In 6th EUROSIM Congres on Modelling and Simulation, Ljubljana, Slovenia (2007).Google Scholar
11.Lind, D. and Sanders, S.P., The Physics of skiing - Second Edition (Springer, New York, USA, 2004).CrossRefGoogle Scholar
12.Omrcen, D., “Developing Matlab Simulink and xPC Target Real-time Control Environment for Humanoid Jumping Robot,” In 16th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2007, Ljubljana, Slovenia (2007) pp. 18–23.Google Scholar
13.Takahashi, M. and Yoneyama, T., “Basic ski theory and acceleration during ski turn,” Sci. Skiing II 14 (5), 307–321 (2001).Google Scholar
14.Ulrich, I. and Borenstein, J., “Reliable Obstacle Avoidance for Fast Mobile Robots,” In IEEE International Conference on Robotics and Automation 2003, Belgium (1998) pp. 1572–1577.Google Scholar
15.Ulrich, I. and Borenstein, J., “Vfh *: Local Obstacle Avoidance with Lookahead Verification,” In IEEE International Conference on Robotics and Automation, (2000). Vol. 11, San Francisco, CA, USA, pp. 2505–2511.Google Scholar
16.Vukobratovic, M. and Borovac, B., “Zero-moment point-thirty five years of its life,” Int. J. Humanoid Robot. 1 (1), 157–173 (2004).CrossRefGoogle Scholar