1993 Fiscal Year Final Research Report Summary
Development of suitable gaits and control system for legged machine on steep, difficult sites
| Project/Area Number |
03556019
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
林学
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| Research Institution | The University of Tokyo |
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Principal Investigator |
SAKAI Hideo The Univ.of Tokyo, Fac.of Agric., Associate Professor, 農学部, 助教授 (70126069)
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| Co-Investigator(Kenkyū-buntansha) |
KANASAKI Kunifumi Tokyo Kanasaki, researcher, 研究員
IWAOKA Masahiro The Univ.of Tokyo, Fac.of Agric., Assistant Professor, 農学部, 助手 (40213269)
TASAKA Toshiaki Utsunomiya Univ., Fac.of Agric., Associate Professor, 農学部, 助教授 (20147474)
NITAMI Toshio The Univ.of Tokyo, Fac.of Agric., Univ.For., Associate Professor, 農学部(林), 助教授 (20192255)
KOBAYASHI Hiroshi The Univ.of Tokyo, Fac.of Agric., Professor, 農学部, 教授 (00111394)
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| Project Period (FY) |
1991 – 1993
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| Keywords | Legged machine / Control system / Multi CPU system / Small model / Simulation / Steep and difficult site / Forest operation / Physiological reaction |
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| Research Abstract |
Research on developing the new machine, Legged vehicle, is on-going to mechanize forest operation, especially silvicultural operation, on steep, difficult sites. The machine developed on 1991, has 2 knuckle boom type legs on front and 4 pantograph type legs on rear which are driven by hydraulic cylinders. The machine is controlled by multi CPU system, the 6 legs are controlled independently by 6 CPU units and the other CPU unit controls the 6 CPU units.
Improving the machine
The weak parts were reinforced.
Discussion on the control system
Simulation experiments were made with small model. The control system for walking with 6 legs synchronizing each other was discussed on.
Improving the control software
The algorithms and the communication protocols to synchronize different type legs, 2 knuckle boom type legs on front and 4 pantograph type legs on rear, were discussed on. The experiment with this software made good results.
Possibility of the machine for forest operation
From the discussion on the operator's Physiological reaction, it was cleared that the traditional vehicle's operator was stressed by terrain roughness. If the legged machine could walk without effect of terrain roughness, the operator's stress on forest operations would decrease.
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