Mine Detecting Technology for Humanitarian Purpose

摘要

We have conducted several experiments of mine detection operations using our first prototype robot system, COMET-1. To accomplish the work, we developed several end effectors that can be attached to the working legs of the robot. When detecting a mine, a robot must lower each of its leg onto the ground safely and stably without stepping Don a mine. For the simulations and experiments in this study, the authors created a simulation model to test the movements of the robot which has an optical proximity sensor attached to the foot of each leg and employs a walking algorithm using compliance control.rnWe verified the efficiency of this method by means of walking experiments.rnWe also investigated the use of remote sensing technology with an IR camera used in combination with other types of sensors. Tests with trial mines were used to study the detection characteristics of an IR camera and we examined the technologies needed for collecting and processing image data in real time for optimum mine position detection.