多足型自動草刈りロボットの開発

―伊東電機（株）製品を用いた草刈りロボットの運動解析―

抄録

Currently, mowing robots on the market are difficult to use in wasteland or bumpy place. In this study, we are developing multi-legged mowing robot. In particular, the multi-legged mowing robot has eight legs. We created model of the mowing machine on a computer with “Choreonoid” (dynamics simulation software) expressed virtual three dimension space in VRML. Then we simulated the multi-legged robot moving forward. In the experiment of the real multi-legged robot, we had problems of sensors detecting of legs grounding and controllers synchronizing each other. Therefore, we overcame problems by using pulse command and remote out command. In this way, we succeeded to control synchronized movement of legs of the mowing robot, and the robot can walk forward and, backward, and turn pivot.