Skiing Simulation Based on Skill‐Guided Motion Planning

Hu, Chen; Lee, Chien Ying; Liou, Yen Ting; Sung, F.-Y.; Lin, Wen‐Chieh

doi:10.1111/cgf.13606

Cited by 4 publications

(1 citation statement)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the case of DIANA, neutral motion was inserted between each carved turn, as shown in Figure 7 a,c, to absorb the rebound caused by the carved turn. Neutral motion is a movement of instantly returning angulation and pivoting (an action of internally rotating the outside foot), gradually performed during the carved turn process, to the initial state before turning it [ 44 , 45 ]. In the case of DIANA, neutral motion occurred during the absorption of the reaction force by slightly bending both legs.…”

Section: Motion Generationmentioning

confidence: 99%

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Park

Kim

et al. 2022

Sensors

View full text Add to dashboard Cite

The performance of humanoid robots is improving, owing in part to their participation in robot games such as the DARPA Robotics Challenge. Along with the 2018 Winter Olympics in Pyeongchang, a Skiing Robot Competition was held in which humanoid robots participated autonomously in a giant slalom alpine skiing competition. The robots were required to transit through many red or blue gates on the ski slope to reach the finish line. The course was relatively short at 100 m long and had an intermediate-level rating. A 1.23 m tall humanoid ski robot, ‘DIANA’, was developed for this skiing competition. As a humanoid robot that mimics humans, the goal was to descend the slope as fast as possible, so the robot was developed to perform a carved turn motion. The carved turn was difficult to balance compared to other turn methods. Therefore, ZMP control, which could secure the posture stability of the biped robot, was applied. Since skiing takes place outdoors, it was necessary to ensure recognition of the flags in various weather conditions. This was ensured using deep learning-based vision recognition. Thus, the performance of the humanoid robot DIANA was established using the carved turn in an experiment on an actual ski slope. The ultimate vision for humanoid robots is for them to naturally blend into human society and provide necessary services to people. Previously, there was no way for a full-sized humanoid robot to move on a snowy mountain. In this study, a humanoid robot that transcends this limitation was realized.

show abstract

Section: Motion Generationmentioning

confidence: 99%

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Park

Kim

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

Current situations and development tendencies for the body measurement technology in digital Skiing: A review

Guan,

Zhang,

Cong

et al. 2025

Measurement

View full text Add to dashboard Cite

Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts

Khoury

Orthey

Toussaint

2021

2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)

View full text Add to dashboard Cite

In contact-based motion planning we consider for humanoid and multiped robots problems like going up a staircase, walking over an uneven surface or climbing a steep hill. Solving such tasks requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most existing algorithms do not take sliding contacts into account for navigation problems or consider them only for manipulation scenarios.We propose an approach to contact-based planning that uses sliding contacts and exploits contact transitions. Such transitions are elementary operations required for whole contact sequences. To model sliding contacts, we develop a sliding contact constraint that permits the robot to slide on an object's surface. To exploit contact transitions, we utilize three constraint modes to enable passage: contact with a start surface, no contact and contact with a goal surface. We develop a sampler that samples these transition modes uniformly. In this thesis we focus on the motion of one robot link's end from an initial contact point toward a designated goal surface while the other end of the robot remains in sliding contact with the initial surface.Our method is evaluated by testing it on manipulator arms of two, three and seven degrees of freedom with different objects and various sampling-based planning algorithms. From the considered manipulator arm, it would be possible to transfer our concept to more complex robots and scenarios and extend it to a whole sequence of contacts.

show abstract

Skiing Simulation Based on Skill‐Guided Motion Planning

Cited by 4 publications

References 38 publications

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Current situations and development tendencies for the body measurement technology in digital Skiing: A review

Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts

Contact Info

Product

Resources

About