著者

妻木 俊道 小林 洋司 中野 栄二 内山 研史 玉田 守

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.27, no.4, pp.470-480, 2009 (Released:2011-11-15)

参考文献数

18

被引用文献数

2 3

---

We introduce a large scaled 6 legged walking machine. It was developed to realize a solid and reliable walking vehicle for practical uses in forestry steep terrain with spread mechanical elements those used in usual construction machines. It weighs about 4,000[kg] with aluminum structure. Owing to a mounted diesel engine of output 11[kW] and hydraulic drive systems, it can walk around on a soft soil terrain and climb the steep slope of inclination up to about 30[deg], and walk along contour line of lateral inclination up to about 40[deg]. Finally it walked and worked well, despite it was tested on severe steep terrain where a lot of shrubs and stumps exist.

著者

妻木 俊道 玉田 守

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.6, pp.486-493, 2017 (Released:2017-08-15)

参考文献数

14

---

We introduce the stable walking system for the large 6 legged walking machine. The machine was developed to realize a solid and reliable walking vehicle for practical uses in forestry steep terrain with spread mechanical elements those are used in usual construction machines. It weighs about 4,000[kg] including the working machine. Owing to a mounted diesel engine and hydraulic drive system, it can walk around on the soft soil terrain and climb the steep slope of inclination up to about 30 degrees, and walk along contour line of lateral inclination up to about 41 degrees. Finally it walked well, despite it was tested on severe steep terrain where a lot of shrubs and stumps exist. We tested and evaluated the machine mainly about its significant walking method, hydraulic motion control system for walking and real-time inclination correcting system.

著者

妻木 俊道 本田 瑛彦 加藤 裕基 藤岡 紘

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.34, no.7, pp.422-431, 2016 (Released:2016-10-01)

参考文献数

35

被引用文献数

3 2

---

On the moon, planets and volcanic area, it is difficult for the robots with wheels, crawlers, legs individually equipped to cross over the large rocks, high step and so on. For acquiring high cross-country ability, to pass the terrain with its body and the shape of its moving mechanisms transforming according to the shape of terrain, is effective. We have been researching and developing such a high performance cross-country robot. Here we introduce the concept and overview of the robot and the results of the test of the intermediate pilot model with 4 crawlers on mainly about the cross-country ability based on terramechanics.

著者

加藤 裕基 渡邊 恵佑 妻木 俊道 柳瀬 恵一 本田 瑛彦

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.34, no.5, pp.321-330, 2016

被引用文献数

2

---

<I>Jumping Scouter</I> is a rocket-powered robot for planetary exploration. The light-weighted robot traverses long distance, independent of terrain conditions. For example, it theoretically jumps 43[km] with only 290[g] of vehicle mass and 98[g] of black powder. It also acquires landscape imagery of wide areas during and after traversal jumps. This paper describes the robot's concept, system configuration and primary evaluation tests for jumping functionary.

著者

妻木 俊道 阿部 誠一郎 千葉 健吉

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.24, no.7, pp.851-860, 2006-10-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

4 5

---

A 6 legged walking vehicle composed of a pair of leg units each of which has three expandable soles and has an ability to make rotational and traversable motion among the leg units is made. It is developed to realize a solid and reliable walking vehicle for practical uses in the near future with spread mechanical elements used in usual hydraulic construction machines. It weighs about 80 [kg] with all aluminum (including honeycomb frame) structure. Owing to mounted 24 [V] /12 [Ah] battery unit and wireless control system, it has no umbilical cord for power supply, control and communication. It is shown by the experiments that the vehicle can walk continuously over 1 hour, crossing many obstacles those maximum height is about 0.9 [m], and many irregular soil terrain.