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Feasibility Study on an Excavation-Type Demining Robot

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Abstract

In this study, we propose a design of an excavation-type demining robot that rids a farm of mines efficiently and safely. In the dangerous area, the robot automatically takes in soil in which mines are laid. The entire soil surface, including mines, is crushed, separated and discharged. Therefore, the demining ratio is high; also, the soil becomes clean and cultivated. The robot has a large bucket on its front. The robot moves forward, maintaining the height of the bucket from the ground by the vertical motion of the bucket and the forward motion of the body. The possibility of that motion is confirmed through simulations and experiments. The crush process and the proper depth of the excavation are also discussed.

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Authors and Affiliations

  1. Department of Systems Engineering, Ibaraki University, Nakanarusawa-cho 4-12-1, Hitachi-shi, Ibaraki, 316-8511, Japan

    Yoshikazu Mori

  2. Graduate School of Engineering, Tokyo Metropolitan University, 1-1, Minami-Osawa, Hachioji, Tokyo, 192-0397, Japan

    Kazuhiro Takayama, Takeshi Adachi, Shintaro Omote & Tatsuya Nakamura

Authors
  1. Yoshikazu Mori
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  2. Kazuhiro Takayama
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  3. Takeshi Adachi
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  4. Shintaro Omote
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  5. Tatsuya Nakamura
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Corresponding author

Correspondence to Yoshikazu Mori.

Additional information

Yoshikazu Mori has a Ph.D. degree in information science from Tohoku University (Japan). he is a research associate in the Department of Precision Engineering, Tokyo Metropolitan University. His research focuses on a welfare robot, and won the 2004 Presentation Award from The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division. He is also interested in an autonomous agent that lives with the human.

Kazuhiro Takayama has a Master’s Degree from the Department of precision Engineering at Tokyo Metropolitan University. He is an acoustic engineer of Honda R&D Co., Ltd., Tochigi R&D Center.

Takeshi Adachi has a Bachelor’s Degree from the Department of Precision Engineering at Tokyo Metropolitan University. Currently he is studying a bipedal robot with jack legs for carrying a heavy load.

Shintaro Omote has a Bachelor’s Degree from the Department of Precision Engineering at Tokyo Metropolitan University. He is currently studying a partner robot and trying to let it recognize human mental characters.

Tatsuya Nakamura received the B.E. degree in aeronautics, the M.S. degree in physics and D. E. degree in robotics in 1965, 1967 and 1983, respectively, from Nagoya University. He joined the Mechanical Engineering Laboratory, AIST, MITI in 1967. He was engaged in advanced robotics project there. In 1992, he became a professor at Mie University. Since 1997, he has been a Professor in the Department of Precision Engineering, Tokyo Metropolitan University. His research topics include micromanipulation using magnetic technologies and intelligent welfare robots.

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Mori, Y., Takayama, K., Adachi, T. et al. Feasibility Study on an Excavation-Type Demining Robot. Auton Robot 18, 263–274 (2005). https://doi.org/10.1007/s10514-005-6839-4

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  • DOI: https://doi.org/10.1007/s10514-005-6839-4

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