The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games
WANG Yiqun1,2,3,4, TIAN Qiyan1,2,4, LU Yang1,2,4, LI Shuo1,2, LI Zhigang1,2,4, ZHANG Qifen1,2,4, LIU Xinyu5
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China; 4. Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China; 5. Guangdong Institute of Intelligent Unmanned System, Guangzhou 511458, China
王轶群, 田启岩, 陆洋, 李硕, 李智刚, 张奇峰, 刘鑫宇. 面向北京2022年冬奥会水下火炬传递的新型机器人[J]. 机器人, 2022, 44(5): 538-545.DOI: 10.13973/j.cnki.robot.220161.
WANG Yiqun, TIAN Qiyan, LU Yang, LI Shuo, LI Zhigang, ZHANG Qifen, LIU Xinyu. The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games. ROBOT, 2022, 44(5): 538-545. DOI: 10.13973/j.cnki.robot.220161.
Abstract：For the underwater torch relay at the Beijing 2022 Winter Olympic Games, an underwater variable structure robot (VSR) and an amphibious robot (AR) are designed, and the control scheme for the underwater torch relay is proposed. It is an important issue in torch relay control to compensate the composite disturbance caused by robotic arms (including torches) motion and environmental current, and a robotic arm with a burning torch will produce more significant influence on the free-floating UUV (unmanned underwater vehicle). To above concerns, a control method for underwater torch relay based on adaptive control strategy is proposed, which identifies statics and current hydrodynamic parameters online, compensates the control disturbance in advance to achieve high-precision attitude and position control for UUV. Finally, the underwater torch relay between robots is achieved for the first time in the Olympic Games history at the Beijing 2022 Winter Olympic Games.
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