局所耕うん栽培を実践する脚式ロボットの開発

• 樹野 淳也

  近畿大

• 稲垣 克彦

  東海大

• 田島 淳

  東農大

書誌事項

タイトル別名

• Development of a Legged Robot for Shaft Tillage Cultivation
• ―実スケールモデルの試作―
• -Prototype of real scale model -

抄録

We studied shaft tillage cultivation as practiced by an autonomous robot. Through previous studies, we found that leg locomotion has a higher compatibility with the shaft tillage method than wheeled locomotion. Therefore, we are currently developing a legged robot for shaft tillage cultivation. In this article, we will report the progress on developing the real scale model of the legged robot. In particular, we describe the development of a backlash free servo module for the swing leg motion, the power transmission method of the standing leg and the sensing method of the ground contact.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2017 (0), 1A1-B06-, 2017

  一般社団法人 日本機械学会

キーワード

• Farming robot
• Legged locomotion
• Ground contact point
• Minimum tillage

詳細情報

• CRID: 1390001205941317760
• NII論文ID: 130006220269
• DOI: 10.1299/jsmermd.2017.1a1-b06
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B06/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可