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Model Experiment System for Ski Motion Using an Automatic Skiing Robot

自动滑雪机器人滑雪运动模型实验系统

基本信息

批准号：
13650274
负责人：
YONEYAMA Takeshi
金额：
$ 2.18万
依托单位：
Kanazawa University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650274/
关键词：
Robot Ski Control Sensor Joint angle Sports Engineering 人間動作ターン測定モデル実験

项目摘要

The purpose of this study is to develop a model experiment system for ski motion using a robot that has similar joint mechanism and motion properties. For this purpose, a new robot which has same joint mechanism with a skier has been developed and then the relation between the turn motion and the various combinations of joint motions.(1)A new ski robot which can make hip joint abduction and adduction, thigh rotation, knee joint flexion, lower leg twist and ankle flexion.(2)For the automatic skiing system, speed sensor, load sensor and direction sensor have been developed. The direction sensor detects the angle between the skiing direction and earth magnetic field. Using the sensors, automatic motion start and force control have been performed.(3)The relation between various motion pattern and turn movement. The time of the change of edging coincides with the time of turn direction change, Larger load applied on the downside leg in the later half cycle of the turn and it continues in the former half cycle.(4)The ski motion of a top skier has been measured using shape tape, load cells. The characteristic of the top player on the combination of flexion-extension and thigh rotation has been revealed.(5)Applying the characteristic motion of the top skier into the program of the ski robot, relatively certain turn has been performed.

本研究的目的是利用具有相似关节机构和运动特性的机器人开发滑雪运动模型实验系统。为此，研制了一种与滑雪者具有相同关节机构的新型机器人，并研究了转弯运动与关节运动的各种组合之间的关系。(1)一种能进行髋关节外展内收、大腿旋转、膝关节屈曲、小腿扭转、踝关节屈曲的新型滑雪机器人。(2)针对自动滑雪系统，研制了速度传感器、负载传感器和方向传感器。方向传感器检测滑雪方向与地球磁场之间的夹角。利用传感器，实现了自动运动启动和力控制。(3)各种运动方式与转弯运动的关系。翻边变化的时间与转弯方向变化的时间一致，在转弯的后半周期下腿承受的载荷较大，在前半周期继续。(4)一个顶级滑雪者的滑雪运动已被测量使用形状胶带，称重传感器。揭示了顶尖运动员屈伸配合大腿旋转的特点。(5)将顶端滑雪者的特征运动应用到滑雪机器人的程序中，完成了相对确定的转弯。