Curling robot and control method thereof

Curling Robot

This technology utilizes a three-wheeled robot structure, featuring a pair of front wheels and a single rear wheel, to perform precise turns and changes in direction by calculating the steering angle of the rear wheel based on the kinematic geometry between the front and rear wheels.

It overcomes the limitations of conventional methods that rely on external guide lines or environmental data, enabling active and independent path control using the robot's own kinematic dimensions.

This technology establishes a kinematic triangular model that accounts for the distance between the center of the front wheels and the rear wheel, as well as the distance between the front wheels. By determining the rear wheel steering angle through mathematical formulas, it controls turning maneuvers by fixing the body's center of rotation to one of the front wheels. Applicable to industrial robots and automated systems, it improves the precision and efficiency of a curling robot's movement on ice by controlling its travel direction without external guidance.

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Key Features:

• A curling robot for throwing a stone, comprising a body
• A controller that determines the rotation angle of the body, using one of the pair of front wheels as the center of rotation, based on the rotation angle of the rear wheel relative to a virtual line connecting the center of the pair of front wheels and the rear wheel
• A curling robot that rotates the body by the determined rotation angle around the center of rotation while the body is in a stationary state.
• A pair of front wheels installed at the front of the body

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This invention was developed with support from the Ministry of Science and ICT for the development of AI curling robot technology capable of establishing game strategies and performing in matches.