Field and Service Robotics pp 3-12

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 62) | Cite as

Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications

  • Marc Freese
  • Surya P. N. Singh
  • William Singhose
  • Edwardo F. Fukushima
  • Shigeo Hirose

Abstract

Operations with flexible, compliant manipulators over large workspaces relative to the manipulator are complicated by noise, vibration, and measurement bias. These difficulties are compounded in unstructured environments, such as those encountered in humanitarian demining. By taking advantage of the static structure of the terrain and the manipulator’s fundamental mechanical characteristics, a series of adaptive corrections and filters refine noisy topographical measurements. These filters along with a shaped actuation scheme can generate smooth and well-controlled trajectories that allow for terrain surface following. Experimental testing was performed on a field robot with a compliant, 3 m long hybrid manipulator and a stereo vision system. The proposed method provides a vertical tracking precision of ±5 mm on a variety of ground clearings, with tip scanning speeds of up to 0.5 m/s. As such, it can agilely move the attached sensor(s) through precise scanning trajectories that are very close to the ground. This method improves overall detection and generation of precise maps of suspected mine locations.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Book, W.J.: Modeling, Design, and Control of Flexible Manipulator Arms: A Tutorial Review. In: Proc. of the 29th Conf. on Decision and Control, Honolulu (December 1990)Google Scholar
  2. 2.
    Craig, R.R., Bampton, M.: Coupling of Substructures for Dynamic Analysis. Journal of AIAA 6(7), 1313–1319 (1968)MATHCrossRefGoogle Scholar
  3. 3.
    CEIA Corporation. CEIA Metal Detector MIL-D1, Operator ManualGoogle Scholar
  4. 4.
    Debenest, P., Fukushima, E.F., Tojo, Y., Hirose, S.: A New Approach to Humanitarian Demining, Part 1: Mobile Platform for Operation on Unstructured Terrain. Journal of Autonomous Robots 18, 303–321 (2005)CrossRefGoogle Scholar
  5. 5.
    Freese, M., et al.: Robotics Assisted Demining with Gryphon. Advanced Robotics 21(15), 1763–1786 (2007)CrossRefGoogle Scholar
  6. 6.
    Freese, M., Singh, S., Fukushima, E., Hirose, S.: Bias-Tolerant Terrain Following Method for a Field Deployed Manipulator. In: Proc. Int. Conf. Robotics & Automation, pp. 175–180 (2006)Google Scholar
  7. 7.
    Ghaffari, M., Manthena, D., Ghaffari, A., Hall, E.L.: Mines and human casualties, a robotics approach toward mine clearing. In: SPIE Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, vol. 5608 (2004)Google Scholar
  8. 8.
    Ishikawa, J., Kiyota, M., Furuta, K.: Evaluation of Test Results of GPR-based Anti-personnel Landmine Detection Systems Mounted on Robotic Vehicles. In: Proc. of the IARP Int. Workshop on Robotics and Mechanical Assistance in Humanitarian Demining, Tokyo (June 2005)Google Scholar
  9. 9.
    Ishikawa, J., Kiyota, M., Pavkovic, N., Furuta, K.: Test and Evaluation of Japanese GPR-EMI Dual Sensor Systems at Benkovac Test Site in Croatia. Technical Report JST-TECH-MINE06-002, Japan Science and Technology Agency (2006)Google Scholar
  10. 10.
    Olson, C.F., Matthies, L.H., Wright, J.R., Li, R., Di, K.: Visual Terrain Mapping for Mars Exploration. In: Proc. IEEE Aerospace Conf., March 2004, vol. 2, pp. 762–771 (2004)Google Scholar
  11. 11.
    Singer, N.C., Seering, W.P.: Preshaping command inputs to reduce system vibration. J. of Dyn. Syst., Meas. Contr. 112, 76–82 (1990)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Marc Freese
    • 1
  • Surya P. N. Singh
    • 2
  • William Singhose
    • 3
  • Edwardo F. Fukushima
    • 1
  • Shigeo Hirose
    • 1
  1. 1.Department of Mechanical and Aerospace Eng.Tokyo Institute of Technology 
  2. 2.Australian Centre for Field RoboticsUniversity of Sydney 
  3. 3.School of Mechanical Eng.Georgia Institute of Technology 

Personalised recommendations