スノーボードロボットの開発

膝関節の屈曲・伸展モデルと股関節の屈曲・伸展モデル

抄録

The motion of a snowboarder is seemingly complex. In order to model that motion and its complexity, we have devised two snowboarding robots. One robotic model incorporates flexion and extension of the knee joint, while the other model integrates flexion and extension of the hip joint. These motions were accomplished through the attachment of a servomotor to the knee and hip joints, respectively. From a basic posture, the knee joint model - incorporating flexion and extension-leans toward and over the front side of the extended knee joint and leans toward and over the back side of the flexed knee joint. So, the knee joint model attains to a posture that rises toward and over, the front side and squats down toward and over the back side. From a basic posture, the hip joint model-incorporating flexion and extension - shows a lean toward and over the front side of the flexed hip joint, and it displays a lean toward and over the back side of the extended hip joint. The hip joint model then becomes the posture which bends the waist toward and over the front side and the posture which bends backward and over the back side. These postures are the inward-leaning postures performed duringa turn. It is this sort of motion which causes the snowboard to be edged. The edging of the snowboard shifts according to these motions. To make a front side turn, the robot extends the knee and/or flexes the hip; to make a back side turn, it flexes the knee and/or extends the hip. Using a side-cut snowboard enables the performance of a carving turn. Moreover, these models are capable as well of achieving a sequential turn. As it turns out, the width of the snowboard plays an important role in allowing the model to make stable, repeated turns.