畦畔除草ロボットのための揺動運動を用いた横滑り抑制手法の検討

抄録

In recent years, the aging of agricultural workers and the reduction in work force is progressing. Especially in farm work, the management of levee is very burdensome for workers. Conventionally, a brush cutter has been used for levee management, but this task is very dangerous for workers. Therefore, various robots have been developed for levee management. In the development of robots, it is important to suppress sideslip and miniaturize to improve working efficiency. In this study, we propose novel traveling method that can suppress sideslip and improve working efficiency by rotate the wheel alternately left and right to sway the body.