Development of a Passive Turn Type Skiing Robot with Variable Height Mechanism of Gravitational Center
Kengo Kono and Norihiko Saga
Faculty of Science and Technology, Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo 669-1337, Japan
In recent years, sports engineering has become an active area of research. It has produced important contributions of many kinds in the development of sports. Ski turns have been investigated from various viewpoints such as the motion analysis of skiers and ski robots and dynamic simulation. Nevertheless, despite considerable research, the mechanisms of ski turns remain to be completely elucidated. Mechanical models derived using approximate expressions do not, furthermore, match alpine ski turns and results are therefore not reflected concretely. To facilitate theoretical considerations, a passive skiing robot was developed. Influences on ski turns, such as the position of the center-of-gravity, can be examined easily using this robot. In a passive turn type of ski robot, a difference in the turn cycle appeared in a difference in leg height. We noticed the influence of turning in the difference in the center-of-gravity height and appended mechanism to change the height of the legs to a passive turn type of ski robot in order to verify whether turns can be controlled by changing the position of the gravitational center. As described here, we examined ski turn dynamics to help skiers improve their athletic performance.
-  K. Hosokawa, S. Kawai, and T. Sakata, “Improvement of damping property of skis,” Sports Engineering, pp. 107-112, 2002.
-  V. N. Khmelev, S. V. Levin, S. N. Tsyganok, A. V. Shalunov, and E. V. Chipurin, “The New Technology of Sliding Ski Surface Covering,” Proc. Sixth Annual 2005 Int. Siberian Workshop and Tutorials on Electron Devices and Materials, 2005, pp. 86-89, 2005.
-  T. Sakata andM. Tsukiyama, “Effects of Position of Shoe Center on Ski Turn,” JSME Int. J. Series C, Vol.42, No.4, pp. 922-929, 1999.
-  N. Tada and Y. Hirano, “In Search of the Mechanics of a Turning Alpine Ski Using Snow Cutting Force Measurements,” Sports Engineering, Vol.5, No.1, pp. 15-22, 2002.
-  S. Kawai, H. Otani, and T. Sakata, “Coupled Motion of Ski and Elastic Foundation Under Ski Control,” JSME Int. J. Series C, Vol.46, No.2, pp. 614-621, 2003.
-  T. Sahashi and S. Ichino, “Coefficient of Kinetic Friction of Snow Skis during Turning Descents,” Japanese J. of Applied Physics, Vol.37, Part 1, No.2, pp. 720-727, 1998.
-  J.M.Morawski, “Control System Approach to a Ski-turn Analysis,” J. Biomechanics, Vol.6, pp. 267-279, 1973.
-  T. Sakata and T. Ito, “Simulation of Ski Turn,” Proc. Second Int. Conf. Engineering of Sports, pp. 361-368, 1998.
-  H. Kagawa, T. Yoneyama, A. Okamoto, and H. Komatsu, “Development of a Measuring System for Joint Angles of a Skier and Applied Forces during Skiing,” JSME Int. J. Series C, Vol.41, No.2, pp. 214-219, 1998.
-  S. Kawai, K. Yamaguchi, and T. Sakata, “Ski Control Model for Parallel Turn Using Multibody System,” JSME Int. J. Series C, Vol.47, No.4, pp. 1095-1100, 2004.
-  K. Hasegawa and S. Shimizu, “Dynamics of turning performed by an alpen skiing robot,” Japanese J. of Sports Sciences, Vol.4, No.12, pp. 971-979, 1985.
-  S. Shimizu, K. Hasegawa, and T. Mizusawa, “Alpine skiing robot,” Advanced Robotics, Vol.6, No.3, pp. 375-376, 1991.
-  T. Yoneyama and H. Kagawa, “Study on the effective turn motion using a ski robot,” The Engineering of Sport, Vol.4, pp. 463-469, 2002.
-  T. Yoneyama, H. Kagawa, M. Unemoto, T. Iizuka, and N. W. Scott, “A ski robot system for qualitative modeling of the carved turn,” Sports Engineering, Vol.11, No.3, pp. 131-141, 2009.
-  L. Lahajnar, A. Kos, and B. Nemec, “Skiing robot . design, control, and navigation in unstructured environment,” Robotica, Vol.27, pp. 567-577, 2008.
-  B. Nemec and L. Lahajnar, “Control and Navigation of the Skiing Robot,” The 2009 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2321-2326, 2009.
-  T. Petric, B. Nemec, J. Babic, and L. Zlajpah, “Multilayer Control of Skiing Robot,” The 2011 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4832-4837, 2011.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.