冰雪运动生物力学及其机器人研究进展  

Progress and Perspective of Ice and Snow Sport Biomechanics and Related Robots

作　　者：王天柱[1,2] 吴正兴 喻俊志[1] 谭民[1] 张峰[1] WANG Tian-Zhu;WU Zheng-Xing;YU Jun-Zhi;TAN Min;ZHANG Feng(State Key Laboratory of Management and Control for Comlex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190;University of Chinese Academy of Sciences, Beijing 100049)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学,北京100049

出　　处：《自动化学报》2019年第9期1620-1636,共17页Acta Automatica Sinica

基　　金：国家自然科学基金(61725305,61573226,61633020)资助~~

摘　　要：随着我国冰雪运动的蓬勃发展和2022年北京冬季奥运会的成功申办,冰雪运动生物力学和冰雪机器人的研究越来越受关注.首先,介绍冰雪环境下摩擦力学的基本理论,进一步,对比不同变量对摩擦系数的影响;其次,讨论冰雪运动中空气阻力的成因,并分析潜在的减阻机制;再次,介绍研究中常用的测量手段和不同维度的建模方法,阐明各类手段和方法的优缺点;最后,回顾冰雪机器人的研究进展,分析冰雪机器人研究领域的技术挑战,展望冰雪机器人未来的研究思路.With the flourishing development of China's ice and snow sports and the successful bidding of the Beijing's 2022 Olympic Winter Games, the research on ice and snow sport biomechanics as well as ice and snow robots plays an increasingly important role. First of all, we introduce the basic theories of friction mechanics in ice and snow environments. Further, the influence of different variables on the friction coefficient is compared. Secondly, we discuss contributing factors of aerodynamic drag in snow and ice, and analyze the potential drag reduction mechanism. Thirdly, the measurement methods typically involved in the research as well as the modeling methods with different dimensions are introduced, and the relative merits are clarified. Finally, we review the research progress of ice and snow robots, analyze the key technical challenges in the field, and offer the ideas of future development of related robots.

关 键 词：运动生物力学 冰雪机器人 建模与控制 高速高机动 

分 类 号：G804.6[文化科学—运动人体科学] G86[文化科学—体育学] TP242[自动化与计算机技术—检测技术与自动化装置]