JP2005254395A - Skiing robot and its controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a skiing robot capable of controlling action by itself according to condition changes of a sliding surface, and stably skiing along a predetermined turn path. <P>SOLUTION: The skiing robot has a body part, and right and left leg parts for supporting a load of the body part through right and left hip joints provided under the body part. In order to slide on a snow surface or the similar low friction slope, a pair of skis is installed to grounding surfaces of the leg parts of the skiing robot. Hip joint inward/outward rotating shafts for rotating the leg parts inward/outward are provided on the hip joints, and a measuring device capable of measuring the orientation or speed of the skiing robot during sliding is provided in any part of the skiing robot. The body part is provided with a controller. On the basis of detection amount from the measuring device, the controller can control the hip joint inward/outward rotating shafts. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a robot that performs a ski turn, and more particularly to a ski robot that controls its own operation and can slide along a predetermined turn path.

  Traditionally, the turn technology, which is a key part of ski technology, is very fast in skiing and requires delicate movements of the joints such as the hips and knees. It was very difficult. For this reason, ski robots have been studied in order to allow the robot to perform ski operations by wearing skis, to analyze the turn technique in principle and to improve the ski operation technique and to improve ski equipment.

  For example, Patent Document 1 discloses a ski robot that can slide on a slope made of a carpet surface or the like by using a radio control operation to swing the thigh by alpine skiing techniques such as pluchbogen, stem turn, parallel turn, and wedeln. Has been. That is, this ski robot has a ski member that is long in the front-rear direction attached to lower ends of leg members provided on both sides of the waist member. Further, each leg member is attached to the waist member so that it can be rotated simultaneously in the left direction or the right direction (internal rotation and external rotation) around an axis inclined downward in the upper portion thereof, Each of the leg members can be operated using an independent servo motor. Then, the left and right servo motors are independently operated by the radio control, and the ski robot is slid in a required motion. With this configuration, the ski robot can rotate and angle each ski member independently by remote control, and can independently and finely adjust the rotation angle and angle. There is.

  In addition, some conventional ski robots perform a ski turn by operating a predetermined joint in accordance with a predetermined operation program. For example, Non-Patent Document 1 introduces a ski robot that performs only hip joint inward and outward motions. This ski robot is a robot having a hip joint that can be freely rotated inward and outward by a servomotor on the lower left and right sides of the body part, and two left and right leg parts each having a ski on the foot below the hip joint. is there. This robot is allowed to make a ski turn on a slide with a certain inclination and snow on its surface, and the turn drive control is performed in advance so as to create a predetermined turn trajectory. This is performed by driving the hip joint only inward and outward with an operation program in which an angle change operation is combined.

  Further, for example, in Non-Patent Document 2, servomotor-driven inner and outer rotation shafts are provided at the lower left and right hip joints of the body portion, and servomotor-driven rotation shafts are provided at the thighs of the leg portions respectively supported by the left and right hip joints. There is disclosed a ski robot having a configuration in which skis are put on the lower ends of two right and left legs. This ski robot realizes a ski turn by performing an inward and outward rotation motion of a leg and a rotation motion of a thigh by a program operation. Then, the relationship between the two-axis joint operation, the force generated on the ski, and the turn motion are compared and analyzed.

JP 61-122881 A (page 2-3, FIG. 1) Takeshi Yoneyama and Hiroyuki Kagawa “Ski Robot Turn and Acting Force” Transactions of the Japan Society of Mechanical Engineers (C), Vol. 64, No. 623 (1998-7), p. 2369, p. 2370, fig.3 Takeshi Yoneyama, Hiroyuki Kagawa, Natsuko Funahashi “Study on Turn Motion and Action Force Using Ski Robots” The Japan Society of Mechanical Engineers, Proceedings of Sports Engineering Symposium, NO.01-22 (2001-11), p. 126, p. 127, fig.1

  When a skier actually slides down in a natural environment, the physical conditions of the snow surface that is the sliding surface, that is, the slope angle and unevenness of the sliding slope, as well as powder snow, rough snow, ice burn, fresh snow, deep snow, etc. The snow cover condition of is constantly changing. For this reason, the skier responds to these continuously changing downhill conditions by changing his / her own running speed, running direction, running posture, and the like by skiing. Therefore, when trying to resemble the skiing operation of this skier, the ski robot responds to changes in physical conditions such as the slope angle and unevenness, the friction coefficient between the slope and the ski in a timely manner, and its speed and motion. It must be able to change the state and control the skiing speed and direction and the attitude of the ski. However, although there is certainly a robot that controls the joints to perform the skiing operation in the conventional skiing robot, the robot itself cannot control the operation while grasping its own sliding state.

  For example, the ski robot described in Patent Document 1 shows that it is possible to turn with various joint motions, and that the rotation motion of the thigh is an effective motion among them. However, the robot operation is limited to manual operation and demonstration, and is not a technique in which the robot performs its own ski operation based on self-judgment.

  Conventionally, there has been a ski robot that performs a ski turn by operating a joint according to a predetermined operation program, such as the robot disclosed in Non-Patent Document 1 or Non-Patent Document 2, for example. Among these, the ski robot introduced in the former Non-Patent Document 1 performs a ski turn on a slide having a certain inclination and snow on the surface, and the turn drive control is predetermined. In this case, only the hip joint inversion / extraction is driven by an operation program in which a change operation of the angle of the hip joint is incorporated in advance so as to follow the turn trajectory. Next, the latter ski robot of Non-Patent Document 2 has a configuration in which an inward and outward rotation shaft is provided at the left and right hip joints of the trunk and a rotation shaft is provided at the thigh of the leg portion supported by the left and right hip joints. The ski turn is realized by performing the inward and outward rotation motions of the legs and the rotational motion of the thighs. As described above, these ski robots perform a predetermined ski operation by controlling a predetermined joint by a program operation input and set in advance, and do not control the skiing by self-judgement at the time of downhill.

  For the reasons described above, it is extremely difficult for a conventional ski robot to always stably skate in a situation where physical conditions of downhill slopes change drastically. That is, in the conventional robot control method, if the angle of the slope changes or the friction coefficient between the slope and the ski changes, the turn program that has been searched for in advance is not immediately overturned. It is necessary to change to a program under the above conditions (conditions that adapt after change). However, this condition setting is not only difficult, but the change is not responsive. Therefore, in this conventional ski robot, it is not possible to stably perform the sliding of the turn trajectory in which the turn switching position is specified as well as the free sliding without defining the course. In addition, for example, in a skiing competition where a predetermined turn path is set such as a course that turns between poles set in advance and competes for the passing speed, it is effective to improve the skill of the skiing operation by analyzing the demonstration of the robot. It can be considered that it is impossible to realize this high-speed and complicated ski turn operation with a conventional robot.

  The present invention has been made paying attention to the above-mentioned problems, and provides a ski robot that can control its operation in response to a change in the condition of the sliding surface and can stably slide along a predetermined turn path. With the goal.

In order to achieve the above object, the first invention has a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part. In order to slide on a snow surface or a similar low friction slope, a ski robot having a ski board on the ground contact surface of the leg,
A hip joint inversion shaft for turning the leg portion inward and outward at the hip joint is provided,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A controller is provided in the body part, and the controller can control the hip joint inversion / extraction shaft based on a detection amount from the measuring device.
The “measuring device” refers to various devices that can measure the direction and speed of a skiing robot, and includes not only an orientation sensor and a speed sensor but also a three-axis accelerometer. In an embodiment in which a robot described later is detected from an image captured by a video camera from the outside and fed back to the robot wirelessly, this feedback device corresponds to the measurement device.

Further, according to the application of the ski robot, the second invention includes a torso part and two left and right leg parts that support the load of the torso part via left and right hip joints provided below the torso part. In a ski robot with a ski board attached to the ground contact surface of the leg to slide on a snow surface or similar low friction slope,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint bending axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A controller is provided in the body part, and the controller can control the hip flexion axis and the knee flexion axis based on a detection amount from the measuring device.

Furthermore, the third invention has a body part and two left and right leg parts for supporting the load of the body part via the left and right hip joints provided below the body part, and the snow surface or the like To ski on a low friction slope, in the ski robot each equipped with a ski on the ground contact surface of the leg,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint abduction shaft for turning the leg inward and outward, and a hip joint bend axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A controller is provided in the body part, and the controller can control any of the hip joint inversion / extraction shaft, the hip joint flexion axis, and the knee joint flexion axis based on a detection amount from the measurement device.

Further, the fourth invention is the above-described ski robot, wherein a load sensor is provided at a connection portion between the leg portion and the ski.
The controller can control any of the hip joint inversion / extraction shaft, the hip joint flexion axis, and the knee joint flexion axis based on a detection amount from the load sensor. Thereby, a ski operation close to the operation of the skier is possible.

5th invention has a trunk | drum and two right-and-left leg parts which support the load of the said trunk | drum via the left and right hip joint provided under this trunk | drum, and it is a snow surface or the same low friction In ski robots, each of which is equipped with a ski on the ground contact surface of the leg to slide down the slope,
A hip joint inversion shaft for turning the leg portion inward and outward at the hip joint is provided,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
The controller is capable of controlling the hip joint inversion / extraction shaft based on a detection amount from the load sensor.

6th invention has a trunk | drum and two right and left leg parts which support the load of the said trunk | drum via the left and right hip joint provided under this trunk | drum, and it is a snow surface or the same low friction In ski robots, each of which is equipped with a ski on the ground contact surface of the leg to slide down the slope,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint bending axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
The hip flexion axis and the knee flexion axis can be controlled by the controller based on a detection amount from the load sensor.

7th invention has a trunk | drum and two right and left leg parts which support the load of the said trunk | drum via the left and right hip joints provided under the trunk | drum, and it is a snow surface or the same low friction In ski robots, each of which is equipped with a ski on the ground contact surface of the leg to slide down the slope,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint abduction shaft for turning the leg inward and outward, and a hip joint bend axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
Based on the detection amount from the load sensor, the controller can control any of the hip joint inversion / extraction axis, the hip flexion axis, and the knee flexion axis.

The eighth invention is the above-described ski robot,
A thigh rotation axis for turning the lower limb of the leg is provided in the leg,
The controller can control the thigh rotation axis based on a detection amount from the measurement device and / or the load sensor.

  According to a ninth aspect of the present invention, in the above-described ski robot, the measurement device includes at least a speed sensor and an orientation sensor. Thereby, it becomes possible to implement this invention simply and cheaply.

  According to a tenth aspect of the present invention, in the method for controlling a ski robot having the above-described configuration, the direction sensor detects a sliding direction on a slope, and the speed sensor detects a skiing speed of the ski. As a method of obtaining the centrifugal force acting on the ski robot from the turn radius, and controlling the angle of the ski plate and the attitude of the ski robot necessary for ski rotation from the resultant force of the centrifugal force and the gravity obtained from the load sensor Yes.

  The eleventh aspect of the invention is a method for controlling a ski robot having the above-described configuration, wherein the current position of the ski robot during sliding is obtained and the distance between the current position and a predetermined turn position set in advance is obtained. In accordance with the distance, a control method for switching the turn is performed by increasing / decreasing the edge angle of the ski and reversing the edge.

  According to a twelfth aspect of the present invention, in the method for controlling a ski robot having the above-described configuration, the detection amount of the ski robot is determined by using the respective detection amounts obtained from the load sensors provided on the foot portions at the lower ends of the leg portions of the ski robot. Operate each joint and move the center of gravity in the left and right direction so that the left and right foot parts have a predetermined load, respectively, to control the balance of the left and right loads, or the front and rear of the foot parts have a predetermined load, respectively. Thus, the control method is such that balance control of the longitudinal load is performed by moving the center of gravity in the longitudinal direction.

  A thirteenth aspect of the invention is a method for controlling a ski robot configured as described above, wherein the controller obtains the speed of the ski robot during sliding and operates each joint when the speed is larger / smaller than a predetermined value. Thus, the speed control method of the ski robot is characterized by performing deceleration control / acceleration control.

  According to the first to ninth aspects of the invention, the ski robot can obtain various information related to the sliding state by the measuring device (direction sensor, speed sensor) and load sensor provided, and can appropriately perform the ski operation based on the information. Thereby, various sliding according to a use and a purpose is realizable.

  According to the first to fourth inventions, the ski robot obtains a sliding speed and a sliding direction (an angle formed by the maximum slope line of the slope) at each time point when the robot slides by using a speed sensor and a direction sensor mounted on the robot itself. Can do. Then, the current position of the robot can be obtained from the integration of the data of the sliding speed and the sliding direction by its own controller. Furthermore, the ski robot according to the fourth aspect of the invention knows the state of load balance during sliding at a predetermined position from the detected amount, the load sensor, and each joint angle (robot posture) of the robot by the controller (hereinafter omitted). Next, posture control for preventing the robot from falling over can be performed. As a result, even if the skiing speed and direction of the ski robot change depending on the physical conditions such as the angle and unevenness of the slope, the coefficient of friction between the slope and the ski, and the operating speed and operating state of the robot, they will occur at that time. You can determine the next action to be performed and perform this in a timely manner. Furthermore, the robot obtains the current position on the predetermined turn trajectory and recognizes it to determine the posture diagram (joint angle motion diagram for sliding on the predetermined turn trajectory) to be taken each time. By immediately controlling the movement of each joint according to the above, it is possible to stably slide on a predetermined turn trajectory.

  According to the ninth invention, the present invention can be implemented easily and inexpensively. In addition, the operability of the ski robot is improved by reducing the size and weight of the device.

  According to the tenth invention, the detection amount from the azimuth sensor and speed sensor provided on the ski is calculated to detect the sliding direction and the sliding speed at the center of gravity of the ski robot. Find the centrifugal force acting on the center of gravity of the robot. The angle of the ski plate and the attitude of the ski robot necessary for the rotation of the ski can be controlled from the resultant force of the centrifugal force and the gravity obtained from the load sensor. That is, it is possible to maintain a posture that does not fall by adjusting the edge angle of the ski by adjusting the angle of the hip joint so that the direction of the acting force from the center of gravity of the ski robot passes between the two skis. . As described above, the ski robot according to the present invention can perform an operation similar to a ski operation in which the skier takes an inclining posture at the time of turning to make an edge and counters the centrifugal force generated at this time, so that the skier can stably turn without falling down. .

  According to the eleventh aspect, the ski robot obtains the sliding speed and the sliding direction from the detection amounts of the speed sensor and the direction sensor on the ski during the predetermined turn, and the detection amount of the sliding speed and the sliding direction. The current gliding position is calculated from the integration of. Then, a distance between the current position and a preset turn position (edge reversal position) is obtained, and the robot turns itself by reversing the edge by increasing / decreasing the edge angle of the ski according to this distance. Switching can be performed. Also, when sliding along a predetermined turn trajectory that combines multiple turns, the robot itself can create a posture diagram (joint angle motion diagram) to be taken while grasping the sliding state, and according to this diagram By operating the joint, ski operation can be performed along a predetermined turn path composed of a plurality of turns. For example, the robot can control the operation so as to slide along a predetermined turn path (such as a course that turns between predetermined poles).

  According to the twelfth aspect of the invention, since the ski robot is provided with load sensors on the left and right foot portions at the lower end of the leg portion, by using these detected amounts, the inner and outer shafts of the hip joint are operated and the left and right foot portions are moved. The balance control of the left and right loads can be performed by moving the center of gravity in the left and right direction of the ski robot so as to obtain predetermined loads. By controlling the balance between the left and right loads, the ski robot can perform a turn that requires an equal load on both feet, such as fresh snow and deep snow, by performing a control that equalizes the loads on both feet, for example. In addition, by using a control to make the right / left load ratio constant, the outer leg is turned with a large amount of load, thereby enabling a high-speed turn with good cutting (no edge shift).

  On the other hand, in the fourth to eighth inventions and the like, load sensors are provided on the front and rear of the foot, respectively, so that these detection amounts are used to adjust the hip or knee joint so that the front and rear of the foot have a predetermined load. It is also possible to operate the bending shaft and move the center of gravity in the front-rear direction to take a forward tilt posture or a rearward tilt posture and perform balance control of the front-rear load. For example, when the resistance such as the friction coefficient of the sliding surface changes during the sliding and the vehicle suddenly decelerates (accelerates), the backward leaning posture (forward leaning posture) can be immediately balanced. In addition, even when the unevenness or inclination change of the sliding surface occurs, the posture control in the front-rear direction can be performed by corresponding the movement of the center of gravity in the front-rear direction. If this control is applied to make the front load larger than the rear load in the first half of the turn, the front part of the ski can be held down, making it easier to start the turn (cutting the edge). If the load is made larger than the previous load, the effect of facilitating switching of the next turn (edge switching) by removing the edge that the front part of the ski floats and bites.

Embodiments of a ski robot according to the present invention will be described below with reference to the drawings.
First, the configuration of the ski robot of the present invention will be described with reference to FIGS. FIG. 1 is a view showing a ski robot and a sensor according to the present invention. FIG. 1 (a) shows a front view thereof, and FIG. 1 (b) shows a side view thereof. FIG. 2 is a simplified diagram showing the configuration of the joints and sensors of the ski robot according to the present invention. As shown in FIGS. 1 and 2, the ski robot 1 includes a body part 4, two right and left leg parts 2, two skis 3 provided respectively below the leg parts 2, and a load sensor 31. , And each sensor such as a direction sensor 32 and a speed sensor 33.

(Body part 4)
The torso part 4 is arranged in a substantially rectangular parallelepiped shape simulating the weight distribution of the upper body of the human body, and the hip joints 20 (20L, 20R: L on the left side and L on the right side are shown on the right and left sides below. The same). Further, the body part 4 outputs a command value calculated by receiving a signal from each of the sensors (31, 32, 33,) to a servo motor (not shown in detail) provided on each joint shaft. A controller 5 for driving and controlling the shaft is provided.

(Controller 5)
In order to perform the calculation, the controller 5 includes a receiving unit that receives a signal from each sensor 30, a processing unit that performs calculation using the signal, a storage unit that stores data and a program, and a command to the servo motor. It consists of a transmitter that sends values to the servo motor. A CPU is used as the processing unit, and a RAM is used as the storage unit. These can be realized using known devices. The sensor 30 is a term including various sensors used for a ski robot, such as a load sensor 31, an orientation sensor 32, and a speed sensor 33 described later. As the device, it is sufficient to use a widely used sensor. Note that in implementing this invention, it is not always necessary to use all of the load sensor 31, the direction sensor 32, and the speed sensor 33, and one or a plurality of sensors may be combined in accordance with the purpose of implementation. . It is also possible to add other sensors.

(Leg 2)
The leg 2 (2L, 2R) includes a respective thigh 13 (13L, 13R) and a thigh 13 (13L, 13R) connected to the lower part thereof via the hip joint 20 (20L, 20R). A lower limb portion 14 (14L, 14R) connected via a knee joint 10 (10L, 10R) at the lower end of the leg, and a foot portion 15 (15L, 15R) provided between the lower limb portion 14 and the ski 3 It consists of

(Ski 3)
The ski 3 (3L, 3R) is directed to the lower end of the lower limbs 14 (14L, 14R) via the foot 15 (15L, 15R) with its longitudinal direction directed in the front-rear direction (traveling direction) with respect to the body 4. It is installed. Here, the lower limb part 14 (14L, 14R) is attached to the foot part 15 (15L, 15R) with a predetermined forward tilt angle (desirably about 10 ° ± 5 °) with respect to the vertical line on the upper surface of the ski 3 in the front-rear direction. Has been. Further, both side surfaces of the ski 3 in the width direction have side curves cut by arcs so that a predetermined turn radius can be obtained. This is a simulation of a recent carving ski, but it goes without saying that various side curves may be provided depending on the purpose of use such as a large turn or a small turn.

(Load sensor 31)
The load sensor 31 (31L, 31R) includes left and right ankle load sensors 31A (31AL, 31AR) provided between the lower limb part 14 (14L, 14R) and the foot part 15 (15L, 15R), and the foot part. A front foot load sensor 31B (31BL, 31BR) and a rear foot load sensor 31C (31CL, 31CR) are provided between the front and rear skis 15 (15L, 15R) and the ski 3 (3L, 3R). It has been. By providing the left and right three load sensors 31 in this way, the left and right ankle load sensors 31A (31AL, 31AR) can detect the left and right load distribution, that is, the load distribution of the inner foot and outer foot, Further, the forward tilt posture and the backward tilt posture of the body portion 4 can be determined from the detected amounts of the sole front load sensor 31B (31BL, 31BR) and the sole rear load sensor 31C (31CL, 31CR).

(Direction sensor 32)
The direction sensor 32 (32L, 32R) is placed on the front upper surface of the ski 3 (3L, 3R). This direction sensor 32 can recognize the traveling direction of the ski robot 1 (when the rotation angle of the lower limb is zero).

(Speed sensor 33)
As shown in FIG. 3, the speed sensor 33 (33L, 33R) reads the speed of the ski 3 (3L, 3R) with the amount of rotation of the roller 33A, which is a detection unit thereof. Further, it is provided so as to be swingable about the roller mounting shaft 35 and to protrude from the rear end portion of the ski 3 so as to be in contact with the running surface. Here, the ski robot 1 has a sliding direction (angle formed by the maximum inclination line of the slope) based on the detection amount of the azimuth sensor 32, the sliding speed based on the detection amount of the speed sensor 33, and the speed sensor 33. The sliding position can be obtained from the integral value of the detection amount with the direction sensor 32. Specifically, at each point of sliding, a signal from the direction sensor 32 is sent to the controller 5 as a change in voltage value. A signal from the speed sensor 33 is sent to the controller 5 as a change in the voltage value of the number of revolutions per unit time. Thus, the signal sent from each sensor is the detection amount.

(Hip 20)
The hip joint 20 (20L, 20R) is composed of a hip joint inversion / inversion shaft 21 (21L, 21R) and a hip joint bending shaft 22 (22L, 22R) provided therebelow. The former hip joint internal and external rotation shaft 21 (21L, 21R) has a central axis in the front-rear direction (ski travel direction) with respect to the body portion 4, and the leg portion 2 (2L, 2R) is centered on this axis. A hip joint 20 (20L, 20R) is provided to inward and outwardly rotate the body portion 4 in the left-right direction (the direction perpendicular to the ski traveling direction). Further, the latter hip joint bending shaft 22 (22L, 22R) has a central axis connected at right angles to the hip joint internal / external rotation shaft 21 (21L, 21R), and the leg portion 2 (2L, 2R) around this axis. ) At the hip joint 20 (20L, 20R).

(Knee joint 10)
The knee joint 10 (10L, 10R) includes a thigh rotation axis 11 (11L, 11R) and a knee joint bending axis 12 (12L, 12R) provided therebelow. The former thigh rotation axis 11 (11L, 11R) is large along the long axis so that the lower limb part 14 can turn around the long axis (longitudinal central axis) of the thigh 13. It is provided in the thigh 13. The latter knee joint bending shaft 12 (12L, 12R) is connected to the thigh rotation shaft 11 (11L, 11R) at a right angle below the thigh rotation shaft 11 (11L, 11R) and the lower limb portion 14 (14L, 14R) in the front-back direction The knee joint 10 (10L, 10R) is provided to bend in the plane. Each of these shafts can be rotated by a servo motor (not shown).

  The ski robot 1 of the present invention can perform the following control by the above-described configuration. These controls will be described below with reference to FIGS.

(Measurement example of gliding speed)
FIG. 4 is a diagram showing a measurement example of the sliding speed of the ski robot 1 obtained from the speed sensor according to the present invention. As shown in the figure, the speed sensor 33 can detect the ski speed of the ski, that is, the ski robot 1.

(Measurement example of foot load)
FIG. 5 is a diagram showing a measurement example of the left and right foot loads during the turn of the ski robot according to the present invention. The load values in the figure represent the load values applied to the left and right skis 3 during the turn of the ski robot 1. According to the figure, it can be seen that the load applied to the left and right skis 3 alternates with time as the time passes, and that the value is substantially line symmetric with respect to a certain value. The crossing portion of this alternating load indicates the right / left turn switching position. When the load value of the left (right) ski 3 is maximum, the load value of the other right (left) ski 3 is the right (left) turn at which the right (left) edge angle is maximum. Since the local minimum value is almost shown, it can be seen that almost all the load is applied to the left (right) ski 3 on the outer foot side, which is close to the state of the one foot load.

(Diagram of joint angle)
FIG. 6 is a diagram showing an example of a joint angle diagram of the ski robot according to the present invention. Among these, FIG. 6A shows an example diagram of the inner and outer rotation angles of the hip joint inner and outer rotation shaft 21 and the rotation angle of the thigh rotation shaft 11. In this figure, it can be seen that the inner and outer rotation angles of the hip joint inner and outer rotation shafts 21 are swung to the left and right (+-), and the edge angle of the ski 3 is switched and the left and right turns are switched alternately. Further, the rotation angle of the thigh rotation shaft 11 is rotated at a timing slightly delayed from the edge angle switching, whereby the ski board 3 is rotated alternately to the left and right in conjunction with the left and right turns at the edge angle switching. You can see that you are giving. FIG. 6B shows an example diagram of the bending angle between the hip joint bending shaft 22 and the knee joint bending shaft 12 of the left and right legs 2. According to the figure, it can be seen that the bending angles of the left and right leg portions alternate with each other over time, and that the values are substantially line symmetric with respect to a certain value. In the intersection of the left and right bending angle curves, the left and right bending angles are the same (the leg length of the leg portion 2 is the same), and the edge angle of the ski 3 is zero because the leg portion does not tilt in the left-right direction. That is, the switching position of the right / left turn is shown. Also, when either the left or right leg 2 has the maximum bending angle and the leg length has extended to the maximum (denoted as MP in the figure), the other leg 2 has the minimum bending angle and the leg length has been reduced to the minimum. . This represents a state in which the right and left inclination of the leg portion is maximized, that is, a state in which the edge angle of the ski 3 is maximized.

(Types of turn control methods)
A turn control method performed by the ski robot 1 will be described with reference to FIGS. These include (1) turn reversal control, (2) turn radius control, (3) attitude (preventing overturning) control, (4) load balance control, and (5) speed control. These controls are performed by processing the signal from the sensor 30 by the controller 5 built in the body part 4 and supplying an output for performing a predetermined operation to a servo motor of a predetermined joint. Hereinafter, these controls will be described individually.

((1) Turn reversal control)
Turn inversion control (turn switching control) will be described with reference to FIG. 7 showing a turn inversion method. The ski robot 1 always calculates its current position during the sliding. This current position is obtained at a certain original position from the sliding direction data by the azimuth sensor 32 and the sliding speed data by the speed sensor 33, and the position displacement after a minute time is obtained from the original position, and this is accumulated from the start position. Looking for. In the figure, the turn inversion control is performed by operating the ski edge angle α in accordance with the distance X between the current position To during sliding and a predetermined turn inversion position (turn inversion point) T set in advance. I do. That is, the ski robot 1 obtains the distance X between the current position To and a predetermined turn inversion position T set in advance during the current left (right) turn. When the distance from the turn reversal point T becomes smaller than a predetermined specified value, the edge angle α1 before reversal of the left (right) edge of the ski 3 starts to decrease, and the edge angle at this turn reversal position is It is set to zero (α = 0). Then, after passing through the turn reversal position T, the right (left) edge of the ski 3 is reversed to the inverted edge angle α2 (α2 is a sign opposite to α1), and the inverted edge angle α ₂ gradually. Increase the and start the right (left) turn. The increase / decrease amount of the edge angle α before and after the turn reversal position T is controlled by an amount proportional to the distance X from the turn reversal position T. The increase / decrease of the edge angle α in this control can be realized in two embodiments. One is a tilting operation of the leg 2 using a bending difference between the left and right legs 2L and 2R by a bending operation of the hip joint 20 and the knee joint 10, and the other is performed by an inward and outward rotation operation of the hip joint 20.

  “Bending difference between right and left legs” means that the degree of bending of the right leg 2R and the degree of bending of the left leg 2L are non-uniform, the distance from the body 4 to one ski 3 and the body 4 This means the difference in distance to the other ski 3. The bending difference between the left and right legs can be implemented by appropriately setting the degree of bending of the hip joint bending portion 22 and the knee joint bending portion 12. At this time, the degree of flexion of the hip joint, the knee joint, and the left and right joints does not have to be the same ratio, and each of the joints (22L, 22R, 12L, 12R) may be controlled with an independent value. When the tilting operation of the leg 2 is performed, the hip joint bending portion 22 and the knee joint bending portion 12 are essential components. The hip joint inversion / extraction shaft 21 is not essential, but is a desirable configuration for implementation.

  The “inner and outer rotation operation of the hip joint 20” is to increase or decrease the edge angle α by using the hip joint inner and outer shaft 21 provided in the hip joint 20 and appropriately rotating the hip joint inner and outer shaft 21 from side to side. When performing this operation, the hip joint bending portion 22 and the knee joint bending portion 12 may not be bent, or may be bent appropriately. In the embodiment of “inner and outer rotation operation of the hip joint 20”, the hip joint inner and outer rotation shaft 21 is an essential configuration, and the hip joint bending portion 22 and the knee joint bending portion 12 can be said to be desirable configurations for implementation.

  If this turn reversal control is used, the ski robot 1 can perform turn switching along a predetermined turn trajectory specified in advance while grasping the sliding state by itself. Also, when sliding on a turn trajectory consisting of a plurality of turns, the robot itself creates a diagram of the joint angle motion to be taken next (see FIG. 6) while grasping the sliding state, and operates the joint according to this diagram. You can ski along the turn path. For example, the robot can control the skiing motion so as to slide along a predetermined turn path (such as a course that turns between poles set in advance).

((2) Turn radius control)
The control of the turn radius will be described with reference to FIG. The control for changing the turn radius (the size of the turn arc) is performed by increasing / decreasing the change speed of the edge angle. That is, in the figure, the turn radius R depends on the edge angle α, and it is utilized that the turn radius becomes larger if the speed for changing the edge angle α before and after the turn reversal position T is made slower, and becomes smaller if the speed is made faster. The change speed β of the edge angle of the ski 3 is increased or decreased. As described above, the ski robot 1 performs the turn inversion by changing the edge angle α. As shown in FIG. 8A, the edge angle during the left (right) turn before the turn inversion position T is determined. When the change speed β is set to a predetermined edge angle decrease speed β0, this turn radius R is assumed to draw an arc having a predetermined turn radius R0. Then, as shown in FIG. 8B, if the edge angle change speed β1 is made smaller than the predetermined edge angle change speed β0 during the left (right) turn before the turn reversal position T, The turn radius R1 is larger than the predetermined turn radius R0. On the other hand (not shown), if the edge angle change speed β1 is made larger than the predetermined edge angle change speed β0 during the left (right) turn before the turn reversal position T, The turn radius R1 is smaller than the predetermined turn radius R0. Further, even during the right (left) turn after the turn reversal point T, the relationship between the edge angle change speed and the turn radius is the same as described above, so the edge angle change speed should be reduced (increased). In this case, the turn radius becomes larger (smaller).

  This embodiment is an embodiment characterized in that the change speed of the edge angle is increased or decreased with the passage of the turn reversal point T as a trigger.

  In this control, the change rate of the edge angle is increased or decreased by tilting the leg 2 using the bending difference between the left and right legs 2L and 2R due to the bending motion of the hip joint 20 and the knee joint 10 or inward and outward rotation of the hip rotation shaft 21. The operation can be performed by accelerating or decelerating. Furthermore, the turn radius can also be controlled by changing the speed of the center of gravity movement in the left-right direction to increase or decrease the edge angle change speed.

((3) Attitude control)
Posture (fall prevention) control will be described with reference to FIG. 9, which is an explanatory view of the fall prevention control. This overturn prevention control is performed by generating a centripetal force by moving the center of gravity in the direction toward the center of the turn against the centrifugal force generated by the ski robot 1 by the turn operation, and balancing them. The ski robot 1 performs control to balance the current posture as follows. That is, the ski robot 1 obtains the gravity vector Fg from its own center of gravity G, as shown in FIG. 9, during the turn, and also obtains the running direction and the running speed v obtained from the direction sensor 32 and the speed sensor 33, respectively. Then, a centrifugal force vector Fc (m × v ² / r, where m is the mass of the ski robot 1) is obtained from the turn radius r calculated from the current edge angle α, and a combined vector F is obtained from the gravity vector Fg and the centrifugal force vector Fc. Ask for. Then, the edge angle α of the skis 3L, 3R is set so that the straight line drawn from the center of gravity G of the ski robot 1 in the direction of the resultant vector F passes through the position P on the sliding surface between the left and right skis 3L, 3R. Correction for matching is performed, and the center of gravity G is moved in the horizontal direction. At this time, the edge angle α before correction (current state) can be calculated from the inversion / inversion angle of the left and right legs 2L, 2R or the inclination angle of the leg 2 using the bending difference between the left and right legs 2L, 2R. The increase / decrease operation can be performed by tilting the leg 2 using the bending difference between the left and right legs 2L and 2R by the bending operation of the hip joint and the knee joint, or the hip joint's internal / external rotation operation. In this way, if the direction of the acting force (combined vector F) from the center of gravity G of the ski robot 1 passes between the two left and right skis 3L, 3R, the combined vector F from the center of gravity G is obtained. In balance with the reaction force vector N from the running surface acting on both skis 3L, 3R, in other words, the centrifugal force vector Fc generated by the turn operation at the center of gravity position is the reaction force vector generated by the center of gravity movement. Since the centripetal force vector Nc, which is a component in the centrifugal force direction, is balanced, the ski robot 1 does not fall. By moving the center of gravity in the left-right direction in this way, the inclining posture that opposes the centrifugal force is taken like a skier at the time of turn, and the posture during the turn is stabilized.

  In the above description, the combined vector is calculated from the gravity vector and the centrifugal force vector obtained from the azimuth sensor and the velocity sensor. However, regardless of this method, a triaxial accelerometer is attached to the ski robot 1 so that the center of gravity is obtained. The acting combined vector may be obtained directly. Also in this case, posture (prevention of fall) control may be performed by adjusting the edge angle so that a straight line drawn from the center of gravity in the direction of the resultant vector passes between both skis.

((4) Load balance control)
The load balance control will be described. The load balance control of the present invention includes left-right balance control and front-rear load balance control. Of these, the former control will be described below with reference to FIG. 10 which is an explanatory diagram of left / right balance control, and the latter control will be described below with reference to FIG. 11 which is an explanatory diagram of front / rear balance control.

(Left and right load balance control)
As shown in FIG. 10, the former balance control of the left and right loads includes a control for equalizing the loads on the left and right foot portions and a control for making the load ratio of the left and right foot portions constant. As shown in FIG. 10 (a), the control for equalizing the loads on the left and right foot portions is performed first from the outputs of the ankle load sensors 31AL and 31AR mounted on the left and right skis 3L and 3R. The current foot left load WaL and foot right load WaR applied to the plates 3L and 3R are respectively obtained (see FIG. 5). Then, the leg 2 is tilted (inclined by the hip joint) by using the hip joint inward and outward movement as shown in FIG. 10 [a1] or by using the bending difference between the left and right hip joints and knee joints as shown in FIG. 10 [a2]. ), The current load applied to the left and right skis 3L, 3R is controlled to be equal. That is, the foot left load WaL applied to the outer foot ski 3L (the ski outside the turn arc) and the foot right load WaR applied to the inner foot ski 3R (the ski inside the turn arc). Correction control is performed so as to be equal (WaL = WaR).

  Further, as shown in FIG. 10B, the control to make the load ratio of the rear left and right foot portions constant is based on the hip joint inward and outward movement as shown in FIG. 10 [b1], or FIG. 10 [b2 As shown in FIG. 4, the current applied to the left and right skis 3 </ b> L and 3 </ b> R by the left and right center-of-gravity movement of the upper body by the tilting motion (body tilt) of the leg 2 using the bending difference between the left and right hip joints and knee joints The foot left load WaL and the foot right load WaR are controlled so that the ratio between them is constant. That is, correction control is performed so that the ratio of the left foot load WaL applied to the outer ski 3L and the right foot WAR applied to the inner ski 3R is a constant ratio (WaL / WaR = constant). Done in Using this control to equalize the left and right foot portions is effective for turns that require equal loads on both feet, such as fresh snow and deep snow. In addition, if a turn is applied with a large load applied to the outer legs using a control with a constant load ratio between the left and right foot portions, a sharp high-speed turn is possible.

(Front and rear load balance control)
The latter balance control of the front and rear foot load will be described with reference to FIG. By the way, as described above, the left and right skis 3L and 3R include load sensors 31F (31BL, 31BR) at the front of the foot and a load sensor 31C (31CL, 31CR) at the rear of the foot. Are attached (see FIG. 1), and the foot front load Wb applied to the front portion of the ski 3 and the foot rear load Wc applied to the rear portion can be obtained, respectively. Therefore, in the balance control before and after the foot load, first, the front foot load Wb and the foot rear load Wc of the current ski 3 are measured from the front foot load sensor 31B and the rear foot load sensor 31C. . Corresponding to this measured value (detected amount), the hip joint flexion angle is changed to move the center of gravity back and forth, and the foot front load Wb is larger than the foot rear load Wc as shown in FIG. Wb> Wc forward leaning posture), the front foot load Wb is equal to the rear foot load Wc (Wb = Wc neutral posture) as shown in FIG. 11B, or the front of the foot as shown in FIG. 11C. Correction control is performed so that the load Wb is smaller than the foot rear load Wc (Wb <Wc backward tilt posture). By applying this control, it is possible to perform a balance control of the front and rear loads of both feet by moving the upper body in the front-rear direction and moving the center of gravity in the front-rear direction to take a forward leaning posture or a backward leaning posture. For example, if the snow quality changes during a run and the resistance changes and suddenly decelerates (accelerates), it is possible to immediately take a backward leaning posture (forward leaning posture) and balance the front and back. In addition, even when the unevenness or inclination of the sliding surface changes, the posture control in the front-rear direction can be performed by corresponding the center of gravity movement of the upper body in the front-rear direction. When turning, the center of gravity is moved back and forth by changing the hip flexion angle so that the front load is greater than the rear load in the first half and the rear load is greater than the front load in the second half. You can also make a certain turn. As described above, the ski robot calculates the foot front load Wb and the foot rear load Wc based on the detection amounts obtained from the front load sensor 31B and the sole load sensor 31C, and the values thereof are calculated. The flexion angle of the hip joint is controlled so that becomes a predetermined ratio.

((5) Speed control)
The speed control will be described with reference to FIG. 12, which is an explanatory diagram of this control. This control method includes deceleration control and acceleration control. First, in the deceleration control, as shown in FIG. 12 (a), the left and right skis 3 are turned in a letter C and the angle of attack (the angle at which the plates cross the sliding direction) is increased to increase the sliding resistance. As shown in FIG. 12 (b), there is a control in which both the left and right skis 3 are aligned and the direction of the skis intersects the running direction to create an angle of attack and increase the sliding resistance. In the speed increasing control, as shown in FIG. 11 (c), the skiing speed is increased by aligning the directions of both skis 3 with the skiing direction (making the angle of attack zero). The operations for manipulating the angle of attack by the speed control are performed by respective combined operations such as hip joint inversion and rotation, lower limb rotation, hip joint and knee joint, or individual operations.

(Sliding example)
An example of sliding along a turn route (course) in which a pole is installed on the running surface will be described with reference to FIG. In the figure, the ski robot 1 recognizes the state of the load balance applied to the ski 3 from the load sensor 31 and each joint angle (robot posture) at the current position A during the turn path L, and then the ski robot. The posture to be taken by 1 and the cornering angle of the ski 3 are obtained. On the other hand, as described above, the current position A on the turn path L is obtained by integrating the detection amounts of the speed sensor 33 and the azimuth sensor 32, and the relationship between the current position A, the sliding direction, and the next pole position B is obtained. Next, the next turn path L to be passed through the next pole 40 is obtained. Then, a diagram of each joint angle operation (posture diagram) is created from the relationship between the turn path L, the posture to be taken, and the cornering angle of the ski 3. Subsequently, the ski robot 1 appropriately controls the above-described posture (prevention of fall) control, load balance control, and the like to maintain a stable sliding posture, and combines control such as the above-described turn inversion control, turn radius control, and speed control. Is passed through the next pole position B while controlling each predetermined joint in accordance with the diagram of the joint angle motion using the. After that, all the courses of the turn route L are completed through the remaining poles 40 one after another.

  In calculating the speed control, the friction coefficient between the ski and the sliding surface is required, and this is obtained in advance from the relationship between the sliding distance and time by directly sliding down the same sliding surface on the ski robot.

  In the present invention, the data of the skiing robot's sliding speed, sliding direction, and sliding position are obtained by detecting each sensor built in the robot. These data are detected from an image of the robot captured by a video camera from the outside. You may obtain | require by feeding back to a robot by radio | wireless. In the case of this embodiment, the device for feeding back wirelessly is a “measuring device”.

  The ski robot 1 according to the present invention can perform various kinds of turn control as described above, and can perform a ski operation resembling a human ski operation as described below. That is, the ski robot 1 drives the hip joint inversion shaft 21 provided on the hip joint 20 by rotating the leg 2 inward or outward by driving the hip joint inversion shaft 21 by a servo motor. While performing the bending motion by the 12 servo drives, the leg 2 is angled left and right and the ski 3 is angled, and a parallel turn can be performed with these two skis kept parallel.

  Further, the ski robot 1 performs bending motion by interlocking the hip joint bending shaft 22 provided at the hip joint 20 and the knee joint bending shaft 12 provided as the knee joint 10 by servo drive, so that the leg 2 is bent. It can also be moved or stretched. That is, when sliding on uneven slopes such as irregular slopes and bump slopes, it is possible to operate so that the height of the upper body is kept constant by the bending and stretching operations of the legs 2. Further, at the time of turning, the body 4 is tilted inward by adjusting the length of each leg, for example, the inner leg is bent more than the outer leg by separate bending and stretching operations of the left and right of the leg 2, as described above. An centripetal force that opposes the centrifugal force generated according to the magnitude can be obtained and the inward and outward posture can be maintained. In this way, the robot can always ski down stably in response to changes in physical conditions of the downhill surface.

  Further, the ski robot 1 can perform a bending-extraction (sinking-extraction) or a stretching-extraction (elongation-extraction) by performing the bending / extending operation of the leg 2 described above. When the turn is switched, each of the bending and stretching operations can be performed to extract the load on the ski, thereby facilitating the twisting operation of the lower limb portion 14 by the servo drive of the thigh rotation shaft 11. This turn switching technology by pulling using the bending and stretching movements of the leg 2 is particularly effective when switching small turns or turns on steep slopes, and enables advanced turn switching operations similar to skier operations that could not be performed by conventional robots. Become.

  Further, the ski robot 1 according to this embodiment includes at least a hip joint inversion / inversion shaft 21 for turning the leg 2 inward and outward, a hip joint bending shaft 22 for bending the leg 2, and a thigh rotation axis for turning the lower limb 14. 11 in total, 6 axes (6 degrees of freedom). Therefore, it is possible to perform an operation combining the hip joint inward and outward rotation, bending, and rotation, which are the three elements of the ski turn operation, and an operation similar to a human ski operation is possible. That is, not only the above-mentioned parallel turn but also the lower limb part 14 can be rotated by the servo drive of the thigh rotation shaft 11 so that the body part 4 can be oriented obliquely with respect to the ski 3. Turn action such as prukebogen and stem turn can be performed by the action. Further, for example, in the small turn, in the first half of the turn, the ski 3 does not bend very much and there is almost no force to rotate the ski 3, so that the leg 2 needs to be twisted at this part, but the twisting operation of the leg 2 is large. It becomes possible by servo driving of the thigh rotation shaft 11, and the ski robot 1 can also make a small turn.

  As described above, since the ski robot 1 can perform joint motions that are very similar to the skier's motions, it is possible to improve the skier's turn technology by verifying which joints can be slid by using the actual slides. Can help. In addition, it is possible to contribute to the development of a ski that can be slid stably and faster by installing a ski that assumes various uses (levels) of the skier and performing a performance test with each turn technology. It can also be expected to help develop skis that are optimal for each skier's application.

It is a figure which shows the ski robot and sensor which concern on this invention. (A) Front view (b) Side view 1 is a simplified diagram showing joints and sensors of a ski robot according to the present invention. It is a figure which shows the speed sensor which concerns on this invention. It is a figure which shows the example of a measurement of the skiing speed of the ski robot obtained from the speed sensor which concerns on this invention. It is a figure which shows the example of a measurement of the left-right foot load in the turn of the ski robot which concerns on this invention. It is a figure which shows the example of a diagram of the joint angle of the ski robot which concerns on this invention. (A) Diagram of internal and external rotation angle and rotation angle (b) Diagram of hip joint and knee flexion angle It is explanatory drawing of the inversion control of the turn which concerns on this invention. It is explanatory drawing of control of the turn radius which concerns on this invention. (A) Turn at a predetermined edge angle decreasing speed (b) Turn at an edge angle decreasing speed smaller than the predetermined edge angle decreasing speed It is explanatory drawing of the attitude | position (fall prevention) control which concerns on this invention. It is explanatory drawing of the left-right balance control which concerns on this invention. (A) Uniform control of left and right foot load [a1] Center of gravity movement due to inward and outward rotation [a2] Center of gravity movement due to left and right bending difference (b) Constant control of right and left foot part load ratio [b1] Center of gravity due to inward and outward rotation Movement [b2] Center of gravity movement due to left / right bending difference It is explanatory drawing of the front-back balance control which concerns on this invention. (A) Foot front load is larger than foot rear load (b) Foot front load is equal to foot rear load (c) Foot front load is smaller than foot rear load It is explanatory drawing of the speed control which concerns on this invention. (A) Deceleration (b) Deceleration (c) Increased speed It is a figure which shows the example which slides the turn path | route of the pole installation of the ski robot which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Ski robot, 2, 2L, 2R ... Leg part 3, 3L, 3R ... Ski board, 4 ... Torso part, 5 ... Controller 10, 10L, 10R ... Knee joint, 11, 11L, 11R ... Thigh Rotation axis, 12, 12L, 12R ... Knee joint bending axis, 13, 13L, 13R ... Thigh, 14, 14L, 14R ... Lower limb, 15, 15L, 15R ... Foot, 20, 20L, 20R ... Hip joint, 21, 21 </ b> L, 21 </ b> R ... hip joint internal / external shaft, 22, 22 </ b> L, 22 </ b> R ... hip joint flexion axis, 30 ˜ sensor, 31, 31 </ b> L, 31 </ b> R—load sensor, 31 </ b> A, 31 AL, 31 AR. ... Sole front load sensor, 31C, 31CL, 31CR ... Sole rear load sensor, 32, 32L, 32R ... Direction sensor, 33, 33L, 33R ... Speed sensor, 33A ... Roller, 5 ... roller mounting shaft, 40 ... pole, A ... current position, B ... next pole position, F ... combined vector, Fc ... centrifugal force vector, Fg ... gravity vector, G ... center of gravity, L ... turn path, m ... mass , N ... reaction force vector, Nc ... centripetal force vector _, P ... sliding surface position, r ... turn radius, R ... turn radius, R0 ... predetermined turn radius _, R1 ... turn radius _, T ... turn reversal position, T0 ... Current position, v ... sliding speed, WaL ... foot left load, WaR ... foot right load, Wb ... foot front load _, Wc ... foot rear load, X ... distance, α ... edge angle, α1 ... before inversion Edge angle _: α2: Edge angle after inversion _, β: Edge angle changing speed, β0: Predetermined edge angle decreasing speed, β1: Edge angle decreasing speed.

Claims (13)

In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
A hip joint inversion shaft for turning the leg portion inward and outward at the hip joint is provided,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A ski robot characterized in that a controller is provided in the body part, and the controller can control the hip joint inversion / extraction shaft based on a detection amount from the measuring device. In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint bending axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A ski robot characterized in that a controller is provided in the torso, and the controller can control the hip joint flexion axis and the knee joint flexion axis based on a detection amount from the measuring device. In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint abduction shaft for turning the leg inward and outward, and a hip joint bend axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A measuring device that can measure the direction and speed of the skiing robot that is sliding on any part of the skiing robot is provided.
A ski provided with a controller in the torso, wherein the controller can control any of the hip joint inversion / extraction shaft, the hip joint flexion axis, and the knee joint flexion axis based on a detection amount from the measurement device robot. The ski robot according to any one of claims 1 to 3,
A load sensor is provided at the connecting portion between the leg and the ski,
A ski robot characterized in that the controller can control any of the hip joint inversion and rotation axes, the hip joint flexion axis, and the knee joint flexion axis based on a detection amount from the load sensor. In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
A hip joint inversion shaft for turning the leg portion inward and outward at the hip joint is provided,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
A ski robot characterized in that the controller can control the hip joint inversion / extraction shaft based on a detection amount from the load sensor. In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint bending axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
A ski robot characterized in that the hip joint bending axis and the knee joint bending axis can be controlled by the controller based on a detection amount from the load sensor. In order to slide on a snowy surface or a similar low-friction slope having a body part and two left and right leg parts that support the load of the body part via left and right hip joints provided below the body part , In a ski robot in which a ski is attached to each ground contact surface of the leg,
The above leg is provided with a knee joint that allows the leg to bend,
The hip joint is provided with a hip joint abduction shaft for turning the leg inward and outward, and a hip joint bend axis for bending the hip joint, and the knee joint is provided with a knee joint bending axis for bending the knee joint,
A load sensor is provided at the connection between the leg and the ski,
A controller is provided in the body part,
A ski robot characterized in that any of the hip joint inversion / extraction shaft, the hip joint flexion axis, and the knee joint flexion axis can be controlled by the controller based on a detection amount from the load sensor. In the ski robot according to any one of claims 2 to 4, 6 and 7,
A thigh rotation axis for turning the lower limb of the leg is provided in the leg,
The ski robot, wherein the controller is capable of controlling the thigh rotation axis based on a detection amount from the measuring device and / or the load sensor.   9. The ski robot according to claim 1, wherein the measurement device includes at least a speed sensor and an orientation sensor.   5. The method of controlling a ski robot according to claim 4, wherein the measuring device detects a skiing direction on a slope and a skiing speed of the ski, and detects the ski robot from the detected amount and the turn radius. A ski characterized in that it obtains a centrifugal force acting on the ski, and controls the angle of the ski plate and the attitude of the ski robot necessary for the rotation of the ski from the resultant force of the centrifugal force and the gravity obtained from the load sensor Robot attitude control method.   A method for controlling a ski robot according to any one of claims 1 to 4, claim 8, and claim 9, wherein a current position of the ski robot during sliding is obtained and preset with the current position. A turn change of a ski robot characterized in that a turn change is performed by calculating a distance between the predetermined turn position and increasing or decreasing the edge angle of the ski according to the distance and inverting the edge. Control method.   9. A method for controlling a ski robot according to claim 8, wherein each detection amount obtained from the load sensor provided on a foot portion at a lower end of the leg portion of the ski robot is used. By operating the joints of the ski robot, the left and right foot parts are moved in the left and right direction so as to have a predetermined load, and the left and right load balance control is performed, or the front and rear parts of the foot parts are respectively A load balance control method for a ski robot, wherein balance control of the front and rear loads is performed by moving the center of gravity in the front and rear direction so as to obtain a predetermined load. The method for controlling a ski robot according to any one of claims 1 to 4, claim 8, and claim 9, wherein the controller obtains a speed of the ski robot during sliding, and the speed is A speed control method for a ski robot, characterized in that when it is larger / smaller than a predetermined value, each joint is operated to perform deceleration control / acceleration control.

Images