Multilayer control of skiing robot

In this paper we propose a novel method for ensuring stability of a skiing robot on a previously unknown ski slope. The method is based on a null-space velocity control algorithm, which is essential for achieving good behavior of redundant robotic systems. Using the pseudo-inverse, the task and the null-space motions are decoupled. For the skiing robot, the primary task is stability, the secondary task is the direction and the third task is the pose of the robot. The dynamic stability index of the skiing robot is defined with the normalized zero moment point. We demonstrated the effectiveness of the proposed method both in simulation in the virtual reality environment as well as on the real robot.