Motion Planning and Simulation of a Mobile Manipulator Robot for Curling

This paper is concerned with the problem of building a physics-based digital curling simulator to train the AI-driven battle generator for mobile manipulator robots. Aiming at overcoming the deficiencies of existing simulators in complex dynamic interaction between the robot and the ice sheet, a physics based digital simulator is built to train the AI-driven battle generator. Moreover, according to the actual configuration and parameters, the robot dynamics simulation scene is built in the V-REP simulation engine to achieve high-fidelity simulation of physical processes such as friction, gravity, and collision in curling confrontation, thereby narrowing the gap between digital simulators and the real world.