Title :
Development of teleoperated six-legged walking robot for mine detection and mapping of mine field
Author :
Nonami, K. ; Shimoi, N. ; Huang, Q.J. ; Komizo, D. ; Uchida, H.
Author_Institution :
Dept. of Electr. & Mech. Eng., Chiba Univ., Japan
Abstract :
Our project has developed and studied high instrumentation technologies for mine detection and mine disposal using measuring equipment mounted on a six-legged teleoperated walking robots. This robot is called COMET-1 which is a full-autonomous obstacle avoidance robot or a semi-autonomous obstacle avoidance robot that requires the operator´s intervention. When detecting a mine, the robot will lower each leg onto the ground safely and stably without stepping on a mine. For the simulations and experiments in the present study, the authors created a simulation model by attaching an optical proximity sensor on the foot of each leg and designed a walking algorithm using compliance control. Also, they verified the efficiency by means of walking experiments
Keywords :
collision avoidance; compliance control; computer vision; legged locomotion; military systems; object recognition; telerobotics; COMET-1; compliance control; mine detection; mine field mapping; obstacle avoidance; optical proximity sensor; six-legged walking robot; teleoperation; telerobotics; Algorithm design and analysis; Foot; Instruments; Joining processes; Leg; Legged locomotion; Optical control; Optical design; Optical sensors; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894698
