Artificial Life and Robotics

, Volume 22, Issue 4, pp 503–508 | Cite as

Mechanism of generating drawbar pull of rod wheel on loose soil

  • Taku MatsumotoEmail author
  • Yoshiaki Oyama
  • Jun Ogawa
  • Keita Nakamura
  • Keitaro Naruse
Original Article


In this paper, we propose a model of drawbar pull generated by wheels fitted with a rod and assess it by comparing measured values obtained from an experiment with those from the model. In recent years, many kinds of robots for weeding in paddy fields have been developed. However, almost all of these are large and heavy. We have previously developed a small, lightweight robot for weeding. This robot is equipped with a rod wheel that has roles of weeding and running. However, this wheel was developed by experience from demonstrations and its dynamics for control remain unknown. To solve this problem, we propose a new model for drawbar pull generated by rod wheels and evaluate it by comparing experimental values with those from the model.


Robotic mechanism Mobile robots Loose soil 



This research was supported by “Development of a weeding robot system for rice fields,” Adaptable and Seamless Technology Transfer Program through Target Driven R&D, Japan Science and Technology Agency. It was also supported by the Promotion Project for the Development of Agricultural Work Support Robots among Promotion Projects to facilitate Innovation Projects of Agricultural, Forestry and Fisheries Area (Rice Field Weeding Robot).


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Copyright information

© ISAROB 2017

Authors and Affiliations

  • Taku Matsumoto
    • 1
    Email author
  • Yoshiaki Oyama
    • 1
  • Jun Ogawa
    • 2
  • Keita Nakamura
    • 2
  • Keitaro Naruse
    • 1
  1. 1.Department of Computer Science and EngineeringThe University of AizuAizuwakamatsuJapan
  2. 2.Revitalization Center, LICTiAThe University of AizuAizuwakamatsuJapan

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