Development of machine and technics for operations to improve the operational efficiency on the steep terrain.

为了提高陡坡造林作业的作业效率，研制了半步行车控制系统和种植园作业系统。研制了一台全尺寸半步行机器人，并对其控制系统和机械机构进行了研究。通过对苗木周围灌木清理程度的区分，考察了灌木下清理对苗木生长的影响，改进了车辆，对车辆的强度和移动速度进行了考察，结果使车辆的腿变短，车身变小。并将其液压缸改为较大的液压缸，并增加了额外的液压泵。控制系统的改进前腿角度传感器由易碎的编码器改为普通的电位器。利用脉冲调制波发生器（Toshiaki TASAKA et. 1993）。除草方法与苗木生长的关系不同种的苗木周围残留的杂草对苗木生长的影响不同。很明显，比其他草高两倍的幼苗不容易影响其生长（Takeshi TANGE et. 1992）。在秧苗周围留有除草剂，对秧苗的生长没有严重的危害。这意味着在陡峭和崎岖的地形上除草的机械化具有良好的可能性。

In order to get high operational efficiency of silvicultural operations which need rapid move at steep hillsides, a control system for semi-legged vehicle which may have high possibility to obtain good trafficability at steep terrain was developed and the operation system for site-preparation and plantation was also developed. A full scale semi-legged vehicle was built up, and its control system and mechanical alignments are had been developing. The influences on the seedlings growth from the under bush cleaning were surveyed by differentiating degree of bush cleaning around seedlings.Improving the vehicleExaminations on the strength and the moving speed of the vehicle had result of making it smaller Its legs were made shorter, and its body was made smaller. And its hydraulic cylinder was changed into larger one, and it got extra hydraulic pumps. Now, its engine is changing into larger one.Improvement on the control systemThe sensor on the angle of front legs were changed from fragile encoder into popular potentiometer. A part of control system was changed into hardware control with Pulse Modulation wave generator (Toshiaki TASAKA et. al. 1993). This made the vehicle's moving smoother.Relationship between weeding method and growth of seedlingsThe effects of weed remained around a seedling on the growth of a seedling was different in species. It was cleared that a seedling which is two times taller than other grasses isn't easily effected on its growth (Takeshi TANGE et. al. 1992). There is no serious damage on the growth of a seedling with weeding remained around a seedling. This means that the mechanization of weeding on steep and rough terrain has good possibilities.