Science Robotics

Supplementary Materials

The PDF file includes:

  • Summary of notation
  • Supplementary background, materials, and methods
  • Fig. S1. Match results between the top-ranked Korean women’s team and cooperative team (robot and humans performing throwing and sweeping, respectively).
  • Fig. S2. Curly operates in main four steps.
  • Fig. S3. Sequence diagram of the throwing process in our system.
  • Fig. S4. The configuration of our curling simulator (server).
  • Fig. S5. Representation of the curling stone running band and pebbles on the ice.
  • Fig. S6. Overview of the asymmetrical friction mechanism on the rotating and sliding running band.
  • Fig. S7. Comparison of trajectories between actual case, our simulation, and Ito’s simulation.
  • Fig. S8. Comparison of the go and curling (Curly).
  • Table S1. Comparison of transfer methods for bridging reality gap with physical robot.
  • Table S2. Comparison of the averaged distance error between no adaptation, rule-based, and model-free DRL-based adaptation in simulated curling and real curling.
  • Table S3. Comparison of curling simulation methods for the dynamics of the traveling curling stone.
  • References (5879)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Highlights of the official curling match A.
  • Movie S2 (.mp4 format). Highlights of the official curling match D.
  • Movie S3 (.mp4 format). Representation of strategies and throw performance with Curly in match C.
  • Movie S4 (.mp4 format). Representation of strategies and throw performance with Curly in match D.
  • Movie S5 (.mp4 format). Representation of collaboration throw with Curly and top-ranked humans.
  • Movie S6 (.mp4 format). Summary of AI curling robot.

Files in this Data Supplement: