受動型横ずれターンモデルの開発

―股関節の回旋によるプルークボーゲン―

抄録

We have developed various kinds of the alpine skiing robot to clarifying the basic elements of a skier's movements, which look complex during turns. The skiing turn is classified roughly into carving turns and skidding turns. The alpine skiing robot is split into two basic types: an active type（with actuator）and a passive type （without actuator）．We have developed active carving-turn models with actuators, skidding-turn models with actuators, and passive carving-turn models without actuators. However, so far the research has not included the conditions and objectives of a passive skidding-turn model without an actuator. So we have developed a passive skidding-turn model, with inner rotation of the hip joints around the femur axes, but with no actuation, and which can snowplow like a skier. In terms of the performance of the passive skidding-turn model, keeping the bilateral hip joints of the skidding-turn model（which are rotated slightly inside with a trapezoidal double-lever mechanism of the four links of a quadric crank-chain），a sequential skidding-turn could be achieved with energy- less skiing. For the passive skidding-turn model, even if the rudder angle was applied to the top-lifted side, a turn could be achieved. Moreover, the direction of the turns of the skidding-turn model with inner rotation of the hip joints corresponded overall to the direction of the steer of a ship.