Currently, more than 100 million anti-personnel mines are under the ground all over the world. These mines not only disturb the economic development of mine-buried nations, but also injure or kill more than 2000 people a month. As a result, the removal of landmines has become a global emergency. The current method of removing mines manually is costly and dangerous. Moreover, removal of all mines by this method would require several hundred years. Under this ultimate environment, a walking robot may be an effective and efficient means of detecting and removing mines while ensuring the safety of local residents and people engaged in the removal work. The present paper proposes a improved six-legged walking robot with two manipulators based on the added stability, mobility, and functionality that this platform offers. The robot presented in this paper is called COMET-II which means a full autonomous obstacle avoidance robot or a semi-autonomous obstacle avoidance robot that requires the operator's intervention. In particular, two new manipulators were developed to attach at the front of the robot. One of the manipulators has a mixed sensor which means a metal detector and a radar sensor. The second manipulator has a grass cutter. COMET-II is equipped with radar to detect anti-tank mines and UXO's within 100 cm depth with very high reliability. The robot is made of composite material for legs and manipulators like CFRP to reduce the total weight. The laser sensor is used for obstacle measurement and can detect the trip wire like craymore mine by land scanning. The six-legged walking robot COMET-II is to be equipped with a visible-light camera, an infrared camera, an attitude control sensor mechanism, and GPS. A great variety of walking patterns will be generated for different walking movements, circular and rotational trajectories, and many kinds of mine avoidance motions. These patterns will enable the robot to walk even on rough ground.


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    Title :

    Humanitarian mine detection six-legged walking robot COMET-II with two manipulators


    Additional title:

    Der sechsbeinige mobile Minensuchroboter COMET-II mit zwei Manipulatoren


    Contributors:
    Nonami, K. (author) / Huang, Q.J. (author)


    Publication date :

    2001


    Size :

    8 Seiten, 9 Bilder, 1 Tabelle, 5 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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