Jennifer Goes Cross-Country and Alpine Skiing

Jennifer, the world’s first ice hockey playing humanoid robot, takes to the slopes and tries out cross-country and alpine skiing in our application for the 2015 DARwIn-OP Humanoid Application Challenge. The cross-country skiing gait is based on the linear inverted pendulum model and is inspired by walking and ice skating gaits developed for the DARwIn-OP robot. We have only begun studying alpine skiing, but have demonstrated rudimentary braking and arcing using simple control of the skis’ edges. Improvin