スキーロボットを用いたスキー操作の研究(スキー)

抄録

We made the skiing robot using a microcomputer, a servo motor, an acceleration sensor, and a one-axis gyroscope sensor for research of skiing operation. The robot detects a direction angle by the gyroscope sensor, and can do control of an edging angle, a center-of-gravity movement, an alpine and a telemark style movement. In the present paper, about mechanism and operation method of the developed ski robot is presented. And the relations between turning motion of a ski and skiing operation have been investigated using a ski robot. The turning ski trucks of a ski robot are measured by a digital video camera. Under the conditions by which a position of the center of gravity in ski robot was moved to front or back, we obtained the result of that position's influencing to turning ski trucks.