Research on key technology of freestyle skiing robot in the aid-slippery stage

Based on the data collection of the freestyle skiing athlete Xu Mengtao and the actual situation of robot modeling parts layout, the mechanical structure of the freestyle skiing robot (FSR) is established. According to this model experiment platform, the corresponding kinematic model is established. Based on inverse kinematics solution and the data collection of the athlete during the aid-slippery stage, the gait planning of the freestyle-skiing robot is done utilizing polynomial interpolation programming algorithm. The three-dimensional simulation is realized by ADAMS. The results of the simulation show that the inverse kinematic analytical solution can ensure real time of simulation and verify the stability and viability of the gait planning.