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Skiing robot - design, control, and navigation in unstructured environment

Published online by Cambridge University Press:  01 July 2009

Leon Lahajnar ,
Andrej Kos  and
Bojan Nemec
Leon Lahajnar*
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Andrej Kos
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Bojan Nemec
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
*
*Corresponding author. E-mail: leon.lahajnar@ijs.si
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Summary

The paper describes a skiing robot that is capable of skiing autonomously on a ski slope. The robot uses carving skiing technique. Based on a complex sensory system it is capable of autonomously navigating on the ski slope, avoiding obstacles, and maintaining a stable position during skiing on an unknown ski slope. The robot was tested using simulation in a virtual reality environment as well as on a ski slope.

Keywords

Robot designHierarchial controlMotion planningAutonomous motionVirtual reality
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 567 - 577
Copyright
Copyright © Cambridge University Press 2008

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