Autonomous Robots

, Volume 18, Issue 3, pp 323–336 | Cite as

A New Approach to Humanitarian Demining

Part 2: Development and Analysis of Pantographic Manipulator
  • Paulo Debenest
  • Edwardo F. Fukushima
  • Yuki Tojo
  • Shigeo Hirose


Humanitarian demining is an application in which the use of tele-operated machines and mechanisms has been gaining acceptance recently. Actually, demining is just one among many other field applications that require a high degree of mobility, manipulation of loads, robustness and, above all, high efficiency in terms of energy consumption. This paper will present the development and analysis of Field Arm, a pantographic manipulator especially designed for field works, focusing on its kinematic, static and dynamic properties. The novel features of Field Arm will be presented and discussed with results of simulations and experiments.


landmines demining pantographic manipulator 


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Copyright information

© Springer Science + Business Media, Inc. 2005

Authors and Affiliations

  • Paulo Debenest
    • 1
  • Edwardo F. Fukushima
    • 1
  • Yuki Tojo
    • 1
  • Shigeo Hirose
    • 1
  1. 1.Department of Mechanical and Aerospace EngineeringTokyo Institute of TechnologyTokyoJapan

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