Robotics applied to sports engineering

In Fig. 1, we show the behavior of our model skier performing repeated turns on a  at slope viewed from the horizontal direction. This model skier can control only the rotation angle Á around the femur at the hip joint. Through this angle, the edging angle μ of the ski is controlled. The interaction between the ski and snow surface is assumed to be the frictional force. The unknown variables are μ , the directional angle ! of the ski, the position of the top of the ski x1 and x2, the resistant force FS of the snow surface against skidding, and the vertical resistant force FB of the snow surface. For these variables, we have the following simultaneous equations, which have unique solutions under appropriate initial conditions: