Study on Low slippage Algorithm using Intelligence Tires with an Active Function of changing Ground Condition

2020 Fiscal Year Final Research Report

• Project/Area Number: 18K04027
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Shibaura Institute of Technology
• Principal Investigator: Iizuka Kojiro 芝浦工業大学, システム理工学部, 教授 (10453672)
• Project Period (FY): 2018-04-01 – 2021-03-31
• Keywords: 可変剛性 / タイヤ / 振動 / 軟弱地盤 / 自律

Outline of Final Research Achievements

In the vehicle for operating on disaster areas, there has a lot of serious restrictions. The wheels mounted to the vehicles for doing various activity have risks of the puncture at traversing the ground with debris and are easy to stack by the tight influence like slipping or sinking at traversing loose soil, and so on. In this research, the wheels with a function of vibration have been proposed to overcome these severe tasks. The loose soil around a source of vibration has been hardened because of the density of soil becomes large rapidly after stopped some vibration. This is an actual phenomenon which the increase of the shearing stress had been confirmed on some measurements carried out by our research groups. Therefore, the special traveling using proposed wheels with this vibration device had been realized by the algorithm, which could judge the slipping condition of a wheel using a tactile sensor to install on the surface(tread) of a wheel and to makes the wheel vibrate.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

日本は自然災害が発生しやすい国土である．特に，震災，土砂災害の発生件数は近年増加傾向にあり，今後もいろいろな場所・地域で, 高頻度で起きると予想されている．そこで，発災直後のレスキューや復興支援活動は極めて重要である．しかし，レスキュー隊員の減少や二次災害の危険があるため，被災地でこれらの活動を円滑に進めることができない．この問題の解決策としてレスキューロボットの導入が望まれている．レスキューロボットはこれまでも様々な災害に投入されており，一定の成果をあげたが，配備が進んでいない．以上のことから, 本研究成果によってこれらの災害発生時に様々な活動の一助となること狙っている.