抄録
We have been developing a rice-duck farming robot. The robot has functions of cackling, wing flapping, and feeding for gathering and leading real ducks. Our previous research results showed that these functions effectively gather and lead real ducks for weed areas in a paddy field. The robot has a tilt sensor and an acceleration sensor for measuring pitch, roll, and yaw angles of the robot's body, and has a front view camera for autonomous locomotion control. We designed and implemented a pitch angle control system and a roll angle control system for the robot. By using the roll angle of the robot's body, control parameters for crawlers are revised for stabilization of autonomous locomotion. By using the pitch angle of the robot's body, pitch angle of the front view camera is revised for stabilization of appropriate image processing and autonomous locomotion. The stabilization of autonomous locomotion in marshy paddy fields was verified through experiments in an indoor rice paddy.
