DynaSki: A Robust Locomotion Framework for Dynamic Skiing Robot on Challenging Terrains

ABSTRACT Existing skiing robots are severely limited in speed and terrain adaptability, because their controllers neglect to explicitly model the complex ski‐snow interaction. This paper presents DynaSki, a complete locomotion framework that overcomes this limitation through a novel model predictive controller (SKIMPC) centered on a Line‐Ski Contact (LSC) model. The LSC model, formulated as a specialized Contact Wrench Cone (CWC), enables the controller to optimize the contact wrench at the ski edge. This core controller is synergistically integrated within the complete DynaSki framework, which also includes: an analytical kinematic solver for the robot's unique parallel mechanism to ensure precise wrench mapping; a dynamics‐aware trajectory planner that converts user commands into feasible trajectory references; and a dedicated landing controller to robustly manage airborne phases. The effectiveness of DynaSki is validated in real world experiments. The robot achieved a top speed exceeding 18 m/s on a steep trail (max inclination 22.8°), traversed wavy slopes with undulations, and executed a stable landing after a 0.3 s airborne phase for the first time in this field.