Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Yang Lu; Yuangui Tang; Xingyu Liu; Fuli Wang

doi:10.1117/12.2659124

23 November 2022 Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Yang Lu, Yuangui Tang, Xingyu Liu, Fuli Wang

Author Affiliations +

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 1245412 (2022) https://doi.org/10.1117/12.2659124
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics.

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Yang Lu, Yuangui Tang, Xingyu Liu, and Fuli Wang "Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 1245412 (23 November 2022); https://doi.org/10.1117/12.2659124

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KEYWORDS

Control systems

Water

Oceanography

Navigation systems

Robotic systems

Complex systems

Motion controllers

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