Felling by a Five-Legged Walking Machine


  • H. Sakai Utsunomiya University, Utsunomiya, Japan
  • Y. Akabane Utsunomiya University, Utsunomiya, Japan
  • S. Murayama Utsunomiya University, Utsunomiya, Japan


A 1/11 scale model of a walking machine with five legs was constructed, and its operation as a feller-buncher investigated. As slopes steepen, the machine when positioned straight up the slope becomes more efficient than when positioned parallel to the contour lines, because the downward operational range of the machine decreases with increased slopes. In the experiments, the ground pressure of the legs on the end opposite the boom was nearly zero when the boom holding felled trees was positioned at the side of the body and extended farthest from the body. However, further investigations (including such factors as ground disturbance, the operation of the machine, the degrees and the length of slope, and the fuel consumption) of felling operations are needed. Feller-bunching tends to be less efficient as tree density increases assuming that felling time per tree remains constant as tree diameter changes. To obtain greater productivity with the machine as a feller-buncher, it is essential to achieve faster walking-time and shorter felling-time per tree.






Technical Papers