Development of suitable gaits and control system for legged machine on steep, difficult sites

目前正在研究开发一种新的机械，腿式车辆，以实现森林作业，特别是在陡峭、困难的场地上的营林作业的机械化。该机器于1991年开发，前部有2个关节臂式腿，后部有4个缩放式腿，由液压缸驱动。采用多CPU系统控制，6个CPU单元独立控制6个腿，另一个CPU单元控制6个CPU单元，对机器进行了改进，对薄弱环节进行了加固，对控制系统进行了讨论，并进行了小模型仿真实验。讨论了六足同步行走的控制系统，改进了控制软件，讨论了实现前两足和后四足同步的算法和通信协议，并通过实验取得了良好的效果。很明显，传统车辆的操作员受到地形粗糙度的压力。如果腿式机器能够行走而不受地形粗糙度的影响，则操作者对森林作业的压力将减小。

Research on developing the new machine, Legged vehicle, is on-going to mechanize forest operation, especially silvicultural operation, on steep, difficult sites. The machine developed on 1991, has 2 knuckle boom type legs on front and 4 pantograph type legs on rear which are driven by hydraulic cylinders. The machine is controlled by multi CPU system, the 6 legs are controlled independently by 6 CPU units and the other CPU unit controls the 6 CPU units.Improving the machineThe weak parts were reinforced.Discussion on the control systemSimulation experiments were made with small model. The control system for walking with 6 legs synchronizing each other was discussed on.Improving the control softwareThe algorithms and the communication protocols to synchronize different type legs, 2 knuckle boom type legs on front and 4 pantograph type legs on rear, were discussed on. The experiment with this software made good results.Possibility of the machine for forest operationFrom the discussion on the operator's Physiological reaction, it was cleared that the traditional vehicle's operator was stressed by terrain roughness. If the legged machine could walk without effect of terrain roughness, the operator's stress on forest operations would decrease.