Autonomous Robots

, Volume 18, Issue 3, pp 293–302 | Cite as

Preliminary Design and Feasibility Study of a 6-Degree of Freedom Robot for Excavation of Unexploded Landmine

  • K. Nonami
  • R. Yuasa
  • D. Waterman
  • S. Amano
  • H. Ono
Article

Abstract

At present, the Sensing and Access Control R&D for Humanitarian Mine Action project has been carrying out by the Japan Science and Technology Agency (JST). Chiba University’s group join to this project. Our effort is to develop a small vehicle for mine detection and clearance. Specifically we are concerned with the development of a 6 degree-of-freedom robot arm for exposing buried anti-personnel mines, with plans of field-testing in Afghanistan in 2005. This paper describes the current state of development in the anti-personnel mine exposure and clearance system, focusing on the robot arm.

Keywords

Artificial Intelligence Computer Vision Excavation Computer Image Access Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. Nonami, K., et al. 2003. Development and control of mine detection robot COMET-II and COMET-III, JSME International Journal, Ser.C, 46(3), 881–890.CrossRefGoogle Scholar
  2. Sato, M., Fang, G., and Zeng, Z. 2003. Landmine detection by a broadband GPR system. In Procs. IEEE Int. Symp. Geoscience and Remote Sensing, IGARSS2003.Google Scholar
  3. Yamada, H. Takeichi, K., and Muto, T. 2002. Sliding Mode Control of Hydraulic Power Shovel, Trans of the Japan Society of Mechanical Engineers, 68(670): 1768–1774.Google Scholar

Copyright information

© Springer Science + Business Media, Inc. 2005

Authors and Affiliations

  • K. Nonami
    • 1
  • R. Yuasa
    • 1
  • D. Waterman
    • 1
  • S. Amano
    • 1
  • H. Ono
    • 2
  1. 1.Department of Electronics and Mechanical EngineeringChiba UniversityJapan
  2. 2.Technical Research CenterFuji Heavy Industries, Ltd.Japan

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