| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2013: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
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| Outline of Final Research Achievements |
This research proposed a robot driver which drives the human operated vehicles such as car. For the first application of the robot driver, this research selected an amphibious vehicle ARGO 4 by 4. Robot driver sit on the seat and controls the throttle, the handle, the gear shift and the hand brake with four motors in total. Motors are controlled by a microcomputer based system with radio receiver for remote control. The human operated system is included the hysteresis characteristics caused by the backlash and play. In order to solve the problem, the force control is applied to this system using a 6 axis force torque sensor. Experimental run of ARGO is demonstrated in the outdoor environment using the constructed robot driver and control system.
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