Robot Models for Active Dynamic Skiing ― A carving-turn model of flexion and extension of the hip and knee joints ―

Abstract

In order to develop a skiing robot which can turn like a skier, it is necessary to understand the basic mechanisms of skiing. This helps in the learning and teaching of skiing. We have developed an active carving-turn model of flexion and extension of the hip and knee joints. Flexing one hip and knee joints and extending the other hip and knee joints causes the skis to be edged. If a carving ski is used, this model can be carving-turned. When this model leans to the side of the flexed leg, one leg is flexed and the other leg is extended. This posture is an inward posture. The direction of the ski is in front of the body and faces the same direction（90 degrees). To achieve a continuous turn, we made this robot model with flexion and extension of the hip and knee joints. Two servo motors were used to create the flexion and extension of each leg. In creating this model, a sequential carving- turn can be achieved.