THE DEVELOPMENT OF COMBINED ALPINE SKIING ROBOTS AND COMPUTER SIMULATION

组合高山滑雪机器人的研制与计算机仿真

• 批准号: 05680080
• 负责人: SHIMIZU Shiro
• 金额: $ 1.34万
• 依托单位: FUKUI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05680080/
• 关键词: ALPINE SKI; ROBOT; COMPUTER; SIMULATION; コンピュータ・シミュレーション

To develop an alpine skiing robot which can turn like a skier it is necessary to understand the mechanism of skiing.An alpine skiing model, which can adduct and abduct its his hip joints with femur rotation, can show a snow plow posture and a traverse posture. This model can demonstrate a toplift plow turn and a toplift stemturn by internal rotation of outside femur.Toplift stem turns can be performed by this combined model with flexion and extension of legs and internal rotation of outside femur.These models show that toplift plow turns and toplift stem turns are essentially realized by internal rotation of outside femur with edging.The result of computer simulation show that stable skiing turn is possible as unstable dynamical equilibrium and the main feature of pararel turn performed by human skier can be reproduced.

要开发能够像滑雪者一样转动的高山滑雪机器人，必须了解滑雪的机理。高山滑雪模型可以使髋关节内收和外展，股骨旋转，可以表现出扫雪姿势和横移姿势。该模型可以演示通过股骨外侧内旋进行顶举犁式转弯和顶举式干式转弯。通过该组合模型可以实现腿屈曲和伸展以及股骨外旋的顶举式干式转弯。这些模型表明，顶式犁式转弯和顶举式干式转弯本质上是通过带边缘的股骨外旋内旋来实现的。计算机模拟的结果表明，稳定的滑雪转弯是可能的，因为不稳定的动力 可以再现人类滑雪者进行的平衡和平行转弯的主要特征。

项目成果

Y.Fujita, K.Hasegawa, S.Shimizu: "Control of Turning Motion of Ski-On the Pflug-Toplift Model-" The Journal of Japan Society of Ski Sciences. 3.1. 101-111 (1993)

Y.Fujita、K.Hasekawa、S.Shimizu：“Pflug-Toplift 模型上滑雪板转动运动的控制”，日本滑雪学会杂志。

清水史郎、長谷川健二: "アルペンスキーロボットの開発-膝関節(下腿)の内旋・外旋モデル-" 日本スキー学会誌. -1. (1996)

Shiro Shimizu、Kenji Hasekawa：“高山滑雪机器人的开发 - 膝关节（小腿）的内部和外部旋转模型”日本滑雪协会杂志 -1。

K.Hasegawa, S.Shimizu, Y.Fujita: "Dynamics of the Toplift-Pflugbogen." Symposium on Sports Engineering. 93. 38-42 (1993)

K.Hasekawa、S.Shimizu、Y.Fujita：“Toplift-Pflugbogen 的动力学”。

S.Shimizu, K.Hasegawa: "The development of an Alpine skiing robot-Combined model of adduction and abduction of the hip joints and femur rotation-" The Journal of Japan Society of Ski Sciences. 5.1.95-106 (1995)

S.Shimizu、K.Hasekawa：“高山滑雪机器人的开发-髋关节内收外展和股骨旋转的组合模型-”日本滑雪学会杂志。

長谷川 健二: "スキー回転時の切れ込みから横ずれへの転化の機構" スポーツ工学シンポジウム講演論文集. 47-51 (1993)

Kenji Hasekawa：“滑雪旋转期间从凹口到侧滑的转换机制”体育工程学研讨会论文集 47-51（1993）。