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

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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.