1A1-B06 局所耕うん栽培を実践する脚式ロボットの開発 : 栽培計画と接地位置を考慮した移動シミュレーション(農業用ロボット・メカトロニクス)

概要

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We propose a method of shaft tillage cultivation using an autonomous robot and discuss the possibility of introducing legged locomotion in our robot. One of the advantages of legged locomotion is the ability it offers in selecting the ground contact points. Since the tillage and transplanting site is managed as point coordinates in shaft tillage cultivation, the compatibility between the leg locomotion and the shaft tillage method is high. This paper treats the locomotion of the five-legged robot for shaft tillage cultivation. The five-legged robot discovers its ground position based on a cultivation plan. We report about the computer simulation where the robot moves about to do various work based on the plan.
一般社団法人日本機械学会の論文
2011-05-26