成果報告書詳細
管理番号20150000000611
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 災害対応ロボット研究開発 (アメリカ) に係る支援業務
公開日2015/8/13
報告書年度2014 - 2014
委託先名株式会社コングレ
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約The International R&D and Demonstration Project in Environment and Medical Device Sector / The International R&D and Demonstration Project in Robotics Field / FY2014 Annual Report   
Congress Corporation

I. R&D Overview

1. Trials Environment in Japan

We examined criteria for a suitable trials environment on the basis of the DRC Trials Task Description published by DARPA in December 2013.

(a) Selection of Trials Venue
After canvassing team opinions, we selected the Sagami Robot Industrial Zone (SRIZ) belonging to the Kanagawa Prefectural Government (former site of Kanagawa Prefectural Arai High School, 2607-2 Shindo, Minami-ku, Sagamiharashi, Kanagawa-ken).

(b) Installation of Trials Environment
The trials environment was installed between January 20 and February 8, 2015. The vehicle task was set up in the school grounds and other tasks in the gymnasium. Teams were provided with power supply, Internet access, heating and cooling equipment, etc.

We took the following steps:
i) A gantry crane was produced to prevent damage to robots if they tipped over during outdoor trials.
ii) For indoor trials, an electric chain hoist was installed on an H-section steel rail affixed to the ceiling and used as a crane to prevent toppling during tasks.
iii) We and team members fitted steering wheel knobs and pedal blocks to assist robots in operating vehicles.
iv) Since battery drive could be unstable outdoors, teams requested power supply for the vehicle trial. Portable inverter generators were hired and installed in vehicle cargo space to provide an alternative power source.

(c) Participation in Testbed Event and Examination of Specifications for Finals
To modify the Japanese trials environment in line with DRC finals specifications, on March 9 and 10, 2015, we accompanied teams to the testbed event in South Carolina organized by DARPA, where we gathered data on specifications for the finals. We also supported teams with transport of machinery and materials to be used at the testbed event, transport within the US, etc.

This examination clarified the following points:
i) Major changes in specifications for the finals
- Stair height changed from 6 m to 1 m. Slope angle changed from 72° to 43°.
- Straight-line distance of driving course changed from 75 m to 50 m.
- For the finals, robots will need to close a valve installed in the hole in the wall.
ii) New points identified at the testbed event:
- Four surprise tasks: switch, lever, wire, etc.
- Plug specifications for new tasks: magnetic plug.
- Course layout: layout of task following driving course will require right turn.
- 5-minute preparation time: any parts installation on vehicles will have to be completed within 5 minutes.
- 2 types of vehicle seat: choice between standard leather seat or light wooden seat.

(d) Modification of Japanese Trials Environment to DRC Finals Specifications
Using the data and knowledge gained above, we installed a trials environment closely resembling the actual DRC Finals environment at SRIZ on March 26-28, 2015.

We took the following steps:
i) We fitted the environment for the surprise switch task set by DARPA with casters to enable use by multiple teams.
ii) We produced the following equipment to support robots in the driving task:
- Step to assist robots to enter and exit vehicle
- Grab-rail in front of seat
- Wooden seat, as clarified at testbed event
Since this equipment will need to be installed in the 5-minute preparation time prior to start, we adopted simple mounting systems and structures able to take the weight of the robot.
ダウンロード成果報告書データベース(ユーザ登録必須)から、ダウンロードしてください。

▲トップに戻る