Title :
Instrumented Scanning Manipulator for Landmines Detection Tasks
Author :
Gavilanes, Javier ; Fernandez, Roemi ; Montes, Hector ; Sarria, Javier ; Gonzalez De Santos, Pablo ; Armada, Manuel
Author_Institution :
Centre for Autom. & Robot. CAR, UPM, Madrid, Spain
Abstract :
This paper presents an instrumented robotic arm for landmines detection tasks during humanitarian demining activities. The manipulator has 5 DOF and it is endowed with a metal detector for landmines detection and a mini-TOF camera for mapping the terrain that has to be scanned. The mini-TOF camera provides a point cloud of the terrain that allows keeping the metal detector at a constant height above the ground and performing an efficient scanning of the contaminated terrain.
Keywords :
image sensors; landmine detection; manipulators; robot vision; contaminated terrain scanning; humanitarian demining activities; instrumented robotic arm; instrumented scanning manipulator; landmines detection tasks; metal detector; mini-TOF camera; terrain mapping; Cameras; Detectors; Metals; Robot vision systems; humanitarian demining; landmines; manipulator; robotic arm; scanning; time-of-flight camera;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on
Conference_Location :
Vila Real
DOI :
10.1109/ICARSC.2015.36
