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

研究开发一种新型机器，腿式车辆，正在进行机械化森林作业，特别是在陡峭、困难的地点进行造林作业。该机于1991年研制成功，前有2个关节臂式支腿，后有4个受电弓式支腿，由液压缸驱动。整机采用多CPU系统控制，6个支腿由6个CPU单元独立控制，另一个CPU单元控制6个CPU单元。改进机器薄弱的部分得到了加固。对控制系统进行了讨论，并用小模型进行了仿真实验。对六足同步行走控制系统进行了研究。对控制软件进行了改进，讨论了前侧2个关节臂式腿和后侧4个受电弓式腿的同步算法和通信协议。利用该软件进行实验，取得了良好的效果。通过对操作者生理反应的讨论，明确了传统车辆操作者受地形粗糙度的影响。如果有腿的机器可以不受地形粗糙度的影响行走，那么操作者在森林作业中的压力就会减少。

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.