Shanghai Jiao Tong University handed in the robot answer sheet and released the major achievements of scientific and technological innovation in the "13th Five-Year Plan"

From December 12 to 22, the "Innovation Technology Expo 2022" was held at the Hong Kong International Convention and Exhibition Center. Led by Professor Gao Feng of the School of Mechanical and Power Engineering of Shanghai Jiao Tong University, three hexapod robots for skiing, curling and guide were jointly developed by the State Key Laboratory of Mechanical Systems and Vibration, the Artificial Intelligence Research Institute and Shanghai Intelligent Manufacturing Functional Platform Co., Ltd. at the exhibition.

It is reported that when the ski robot was designed, it was tested by manual remote control and autonomous planning. First, the robot's height, body pitch angle, center of gravity, snowboard angle, front and rear position, and left and right leg height were controlled on the ski machine to complete the speed and steering control test. Data shows that the maximum speed of stable steering gliding by manual remote control can reach 3.2m/s, the maximum speed of self-planned uniform straight gliding can reach 5.17m/s, and the maximum speed of stable steering gliding can reach 2.45m/s.

The control of the limbs of the hexapod curling robot is also complex and requires a higher degree of coordination: during the throwing process, the robot's front legs are transformed into "human hands" to hold and rotate the curling stone. The knees of the middle legs and the elbows of the front legs are combined into four points of contact with the ice surface, forming the function of human support legs; the rear legs step on the pedal to achieve the function of accelerated sliding. In addition, the front legs can also throw the curling stone twice during the robot's sliding process, control the direction, speed and angular velocity of the curling stone, and achieve accurate throwing and hitting functions. Data shows that the maximum linear velocity and angular velocity of the curling stone can reach 4m/s and 30rpm respectively.

The guide robot has extremely high requirements for stability and recognition ability, so it has added a variety of sensors such as vision and force perception to ensure autonomous anti-collision walking and balance control. During the journey, it can cross 0.25m high obstacles, climb slopes and stairs of 30° or more, and map and locate the environment within 30m ahead, and display it on the remote terminal. The blind can interact with the robot through voice to control the robot's actions, and can also use the cane to apply external force to control the robot to move forward or backward, with a control distance of more than 5 meters.