1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China; 2. MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai 200240, China
Abstract：The six-legged curling robot is the only robot to enter the Winter Olympic Games site required by Beijing Organising Committee for the 2022 Olympic Winter Games. The purpose of developing this robot is to demonstrate the independent innovation ability and level of robots in China at the Beijing Winter Olympic Games. By imitating the behavioural characteristics of a curling player throwing a curling stone, we find unique ideas to design and develop a six-legged curling robot. The design of the six-legged curling robot faces many challenges, including the configuration synthesis of the six-legged robot imitating the human curling behaviour, the establishment of the correlation characteristics between the curling task chain and the robot behaviour chain, and the trajectory planning of the robot hitting the curling stone. The developed six-legged curling robot successfully completed the performance of hitting curling stone at the Ice Cube for the Beijing 2022 Winter Olympic Games.
 Park H, Oh J H. Robots for the PyeongChang 2018 Winter Olympic Games[J]. Science Robotics, 2018, 3(16). DOI: 10.1126/scirobotics.aat5217.  Won D O, Müller K R, Lee S W. An adaptive deep reinforcement learning framework enables curling robots with humanlike performance in real-world conditions[J]. Science Robotics, 2020, 5(46). DOI: 10.1126/scirobotics.abb9764.  Tian Y, Gao F. Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning[J]. Robotica, 2018, 36(3): 333-352.  Gao F, Li S, Gao Y, et al. Robots at the Beijing 2022 Winter Olympics[J]. Science Robotics, 2022, 7(65). DOI: 10.1126/ scirobotics.abq0785.