2015 Fiscal Year Final Research Report
Development of Legged Robot for the Shaft Tillage Cultivation
| Project/Area Number |
25420231
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kinki University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
INAGAKI Katsuhiko 東海大学, 情報理工学部, 教授 (90276775)
TAJIMA Kiyoshi 東京農業大学, 地域環境科学部, 教授 (30188239)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | 農作業ロボット / 脚式移動機構 / ポジショニング / 環境保全型農業 |
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| Outline of Final Research Achievements |
We proposed the shaft tillage cultivation for autonomous robot. Under this cultivation, deep vertical shaft is drilled by rotating the tillage tool, after that, seedling is transplanted to the shaft and grows until harvest time. We have discussed the possibility of application of legged locomotion to our robot. In this research we started to develop the legged robot to practice the shaft tillage cultivation. At first, we made prototype of the leg structure and the robot body. Second, we proposed an affordable and high-precision 2-D positioning method for the legged robot. As a result of the experiment to evaluate the measurement error, the RMSE was found to be about 15 mm. In addition, we experimentally investigated the transplanting performance of the transplanting equipment for chain pot seedlings. Although most seedlings were successfully transplanted into the shafts, we recognized some problem to be solved in future.
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| Free Research Field |
計測制御工学
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