Disponible en: http://www.worldscientific.com/doi/abs/10.1142/9789814725248_0055 ; The inspection platform that is described in this manuscript consists of a hexapod walking robot designed by the Centre for Automation and Robotics CSIC-UPM, Spain. This inspection platform will load a scanning manipulator arm which, in turn, carries a metal detector on its tool centre point. With the integration of both, hexapod robot and scanning manipulator, several test tasks about the search and localisation of antipersonnel mines will be carried out, within a controlled environment. The SCARA configuration of the hexapod robot legs will allow low energy consumption when the robot executes gaits on flat terrain or with reduced slope, due the decoupling of gravitational effects. This legged robot has a mass about 250 kg, and it can bear a high payload up to about 300 kg. Considering this load characteristic then the vibrational effects on the scanning manipulator will be reduced, when this carry out scanning tasks over the terrain. ; info:eu-repo/grantAgreement/EC/FP7/284747; The authors acknowledge funding of this work under TIRAMISU Project - Grant Agreement Nº 284747 of the 7FP, and partial funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU. Dr. Héctor Montes also acknowledges support from Universidad Tecnológica de Panamá. ; Peer reviewed
Inspection platform for applications in humanitarian demining
2015-09-06
Conference paper
Electronic Resource
English
DDC: | 629 |
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