受動型横ずれターンモデルの開発

―股関節の外転・内転と股関節の内旋による複合モデル―

抄録

The skiing turn is classified roughly into carving turns and skidding turns. The alpine skiing robot is classified into an active type（with servomotor）and a passive type（without servomotor）．We have developed active carving- turn models with servomotors, skidding-turn models with servomo-tors, and passive carving-turn models without servomotors. However, so far the research has not included the conditions and objectives of a passive skidding-turn model without a servomotor. So we have developed a passive skidding-turn model of abduction and adduction of the hip joints, with inner rotation of the hip joints, which can snow plow like a skier without any actuation. In terms of performance of the passive skidding-turn model, keeping the bilateral hip joints of the skidding-turn model, which are rotated slightly inside with a 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 of abduction and adduction with inner rotation of the hip joints corresponded overall to the direction of the steer of a ship.