{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:44:06Z","timestamp":1760240646827,"version":"build-2065373602"},"reference-count":15,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2019,8,23]],"date-time":"2019-08-23T00:00:00Z","timestamp":1566518400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Subsequently, the robot will be able to pass through gates with LiDAR sensors. By using ZMP control, the robot can avoid falling down while tracking its desired path. The performance of the proposed stabilization method and autonomous turning algorithm are verified by a dynamics simulation software, Webots, and the simulation results are obtained while using the small humanoid robot platform DARwIn-OP.<\/jats:p>","DOI":"10.3390\/s19173664","type":"journal-article","created":{"date-parts":[[2019,8,26]],"date-time":"2019-08-26T04:38:23Z","timestamp":1566794303000},"page":"3664","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Stability Control and Turning Algorithm of an Alpine Skiing Robot"],"prefix":"10.3390","volume":"19","author":[{"given":"Si-Hyun","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Ajou University, Suwon 16499, Korea"}]},{"given":"Bumjoo","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Myongji University, Yongin 17058, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6174-6442","authenticated-orcid":false,"given":"Young-Dae","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Ajou University, Suwon 16499, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2019,8,23]]},"reference":[{"key":"ref_1","unstructured":"Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., and Hirukawa, H. 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Proceedings of the IEEE International Conference on Intelligent Robots and Systems, St. Louis, MO, USA.","DOI":"10.1109\/IROS.2009.5354807"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"567","DOI":"10.1017\/S0263574708004955","article-title":"Skiing robot-design, control, and navigation in unstructured environment","volume":"27","author":"Lahajnar","year":"2009","journal-title":"Robotica"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Petri\u010d, T., Nemec, B., Babi\u010d, J., and \u017dlajpah, L. (2011, January 25\u201330). Multilayer control of skiing robot. Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6048154"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"347","DOI":"10.1007\/s10514-013-9329-0","article-title":"Reflexive stability control framework for humanoid robots","volume":"34","author":"Gams","year":"2013","journal-title":"Auton. Robot."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"39","DOI":"10.5772\/5618","article-title":"Cyberbotics Ltd. WebotsTM: Professional mobile robot simulation","volume":"1","author":"Michel","year":"2004","journal-title":"Int. J. Adv. Robot. Syst."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/17\/3664\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:13:22Z","timestamp":1760188402000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/17\/3664"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,23]]},"references-count":15,"journal-issue":{"issue":"17","published-online":{"date-parts":[[2019,9]]}},"alternative-id":["s19173664"],"URL":"https:\/\/doi.org\/10.3390\/s19173664","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2019,8,23]]}}}