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Development of Stone Throwing Robot and High Precision Driving Control for Curling

Title
Development of Stone Throwing Robot and High Precision Driving Control for Curling
Authors
Choi, Jung HyunSong, ChangyongKim, KyunghwanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2018-10
Citation
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, 2434-2440
Type
Conference
ISBN
9781538680940
ISSN
2153-0858
Abstract
In this paper, a novel mobile robot developed to perform Curling sports is introduced. The developed robot is a Stone Throwing Robot (STR) for Curling that can travel on the ice with wheels and throw a stone as well as make curls of the stone. The STR is developed as a robot component of an Artificial Intelligence(AI) system that can autonomously play the curling sport. The proposed STR can throw a stone at any desired speed and in any desired direction, which are determined by the AI system. To achieve this precise driving of the STR and throwing of the stone, two dimensional drive control is developed for the STR, which consists of 1) anti-slip control for high traction, 2) precise velocity control and 3) high accuracy heading angle control. In addition to the conventional PID controller, model-based feedforward control, Model Following Control (MFC) for the anti-slip control of the wheel on the ice and Yaw Moment Observer (YMO) for the robust heading angle control are applied as key technologies for the STR driving. The design configurations of the STR to achieve the detection of its own location and throwing/curling of the stone is proposed in this paper as well as the detail of the precise driving control. © 2018 IEEE.
URI
http://hdl.handle.net/20.500.11750/9700
DOI
10.1109/IROS.2018.8594026
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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