1A2-C01 局所耕うん栽培を実践する脚式ロボットの開発 : 接地位置の選択

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  • 1A2-C01 Developement of Legged Robot for the Shaft Tillage Cultivation : Determination of ground position

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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. The feature of wheel locomotion is not made good use of, because the robot must stop to do the shaft tillage and transplanting. Meanwhile, one of the effectiveness of legged locomotion is to select ground contact point. Under the shaft tillage cultivation, the tillage and transplanting place is managed in the point. From these viewpoints, it is suggested that the compatibility between the leg locomotion and the shaft tillage method is higher. In this paper we show how to select ground contact points when the legged robot repeats the sequence of movement and work.

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