抄録
In order to clarify the mechanism of a turning ski, a skiing robot which controls parameters in respect of snow resistance force was developed. The turning motion of an alpine snow ski is made possible by centripetal force and the moment around the center of mass. Both the force and moment are produced by resistance forces from the surface of the snow. Various actuation of the skier on a turning ski results in controlling a snow resistance force. A robot with servo-motors controls snow resistance force by the actuation of an edging angle, back and front movement of a ski board, and centre-of-gravity movement. In order for a robot to turn autonomously, it is necessary to recognize the turning phase. The microcomputer and the gyro sensor are attached in a robot. A direction angle is calculated by integrating with the angular speed measured with the gyro sensor, and a robot recognizes the turning phase, judging from the continuity of a direction angle. The skiing robot performs skiing operation responding to the turning phase. The turning ski trucks of a skiing robot was measured by a digital video camera. And the effects of skiing operation on a ski truck was investigated using a skiing robot.
