Development of quadruped walking robot with the mission of mine detection and removal - development of end-effectors and simulated mine removal experiment

摘要

This paper proposes several new changeable end-effectors to attach to our proposed a quadruped walking robot which performs mine detection and removal tasks. The robot is controlled by tele-operation of human operator in phase of the removal task. We discuss the steps of tasks in the detection and removal of mines and, report about the simulated mine removal experiment. Especially, we add the mine detonation task to a removal task.