Development of Robot Driver drives human operated vehicle

2015 Fiscal Year Final Research Report

• Project/Area Number: 25420204
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工学群)
• Principal Investigator: Takita Yoshihiro 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工, その他部局等, 教授 (60546050)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 運動制御 / ロボットドライバー / 遠隔操縦

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.

Free Research Field

機械力学・制御