Ski Robot Turn and the Reacting Forces

Abstract

Acting forces from the snow surface to the skiing robot have been measured in a ski turn using force sensors embedded in the legs of the skiing robot. The robot makes a turn onto the side curve line by the rotation of the hip joints into side direction. Acting force from the snow surface corresponds to the ski motion. In the right turn, force acts to the right direction and in the left turn, force acts to the left direction. If it is assumed that the turning force is caused by the centripetal force and the force is in proportion to the edge angle, the elemental simulation result agrees well with the experimental result.