北京2022年冬奥会六足冰壶机器人机构设计与运动规划  

Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games

作　　者：Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao Yuguang Xiao Qiao Sun Jing Sun 

机构地区：[1]School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]Key Laboratory of Mechanical System and Vibration,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Engineering》2024年第4期15-31,共17页工程（英文）

基　　金：funded by the National Natural Science Foundation of China(92248303).

摘　　要：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 v_(k),pushing velocity v_(p),orientation angle θc,and rotation velocityω,are determined by aiming and sliding models according to the estimated equivalent friction coefficientμ_(equ)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.

关 键 词：Legged robot Curling robot Winter Olympics Mechanism design Motion planning 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TS952.6[自动化与计算机技术—控制科学与工程]