Development and Control of Mine Detection Robot COMET-II and COMET-III

摘要

In this paper, we elucidate the development and the multitask cooperative control of humanitarian demining assistance robots. In particular, the aim in this paper is to propose the first platform robots for humanitarian demining as a global pioneering project. Here we propose two kinds of mine detection robots which consists of six-legged walking robots with two manipulators for added stability, mobility, and functionality. One of the proposed mine detection robots is the COMET-II which is a 120 kg class robot driven by electric power. The other robot is the full autonomous mine detection robot the COMET-III which is a 1 ton class robot driven by hydraulic power with a gasoline engine. The COMET-III has a crawler and six legs and it can continue a mine detection operation for four hours. An improved version of this kind of robot will be engaged for mine detection operation in actual mine fields in the near future.