| Budget Amount *help |
¥14,170,000 (Direct Cost: ¥10,900,000、Indirect Cost: ¥3,270,000)
Fiscal Year 2020: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2019: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2018: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
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| Outline of Final Research Achievements |
This research has developed a hardware-in-the-loop simulator (HILS) for field robots involved in mechanical interaction with sandy terrain. The study mainly focuses on the two different interaction mechanics on sandy terrain: robotic wheel and bulldozing blade. The research found that the HILS for such rough terrain mechanics becomes stable and possesses high-fidelity by using appropriate damping coefficient in simulation models used in the HILS. The contributions of this research are as follows: 1) development of the HILS for the rough terrain robotics, 2) verification of the HILS for different types of mechanical interaction, and 3) clarification of the key parameter for the stable and high-fidelity HILS.
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