Department for Automation, Biocybernetics and Robotics





Multilayer control of skiing robot

Petrič T., Nemec B., Babič J., Žlajpah L., Multilayer control of skiing robot, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 25-30, 2011, San Francisco, USA, IROS 2011, 2011, str. 4832-4837.

Bibtex
@INPROCEEDINGS{Petric2011,
author={Petri\v{c}, T. and Nemec, B. and Babic, J. and \v{Z}lajpah, L.},
booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on},
title={Multilayer control of skiing robot},
year={2011},
month={sept.},
volume={},
number={},
pages={4832 -4837},
doi={10.1109/IROS.2011.6094546},
ISSN={2153-0858},}

Abstract (English)

In this paper we propose a novel method for ensuring stability of a skiing robot on a previously unknown ski slope. The method is based on a null-space velocity control algorithm, which is essential for achieving good behavior of redundant robotic systems. Using the pseudo-inverse, the task and the null-space motions are decoupled. For the skiing robot, the primary task is stability, the secondary task is the direction and the third task is the pose of the robot. The dynamic stability index of the skiing robot is defined with the normalized zero moment point. We demonstrated the effectiveness of the proposed method both in simulation in the virtual reality environment as well as on the real robot.


Keywords
  • Dynamic stability index
  • Multilayer skiing robot control
  • Normalized zero moment point
  • Null-space motions
  • Null-space velocity control algorithm
  • Real robot
  • Redundant robotic systems
  • Virtual reality environment
  • Humanoid robots
  • Mobile robots
  • Motion control
  • Velocity control
  • Virtual reality

 

 

Publication link

 

Video



PDF version of the publication
iros2011TP.pdf, (785 kb)