Mine Remote Sensing Using a Working Robot
Nobuhiro Shimoi*, and Yoshihiro Takita**
*Department of Mechanical Engineering, Tokyo National College of Technology, 1220-2 Kunugida-machi, Hachioji-shi, Tokyo 193-0997, Japan
**Department of Computer Science, National Defense Academy, 1-10-20 Hashirimizu, Yokosuka, Kanagawa 293-8686, Japan
In conducting mine detection experiments using our prototype robot COMET-1, we developed end effectors on the robot’s working legs. When detecting a mine, a robot must step safely and stably without hitting it. For this study, we created a simulation model to test the movement of a robot having an optical proximity sensor on each foot and used a walking algorithm having compliance control. We verified its efficiency in walking experiments. We also studied the use of remote sensing technology with an IR camera combined with other sensors. Tests with trial mines were used to study the detection of an IR camera and studied technologies for collecting and processing image data in real time for optimum mine detection.
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