Development of teleoperated six-legged walking robot for mine detection and mapping of mine field

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 a...

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Bibliographic Details
Main Authors: Nonami, K., Shimoi, N., Huang, Q.J., Komizo, D., Uchida, H.
Format: Conference Proceeding
Language:English
Subjects:
Algorithm design and analysis
Foot
Instruments
Joining processes
Leg
Legged locomotion
Optical control
Optical design
Optical sensors
Robot sensing systems
Online Access:Request full text
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Summary: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.
DOI:10.1109/IROS.2000.894698