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Inspection platform for applications in humanitarian demining

AuthorsMontes, Héctor ; Mena, Lisbeth; Fernández Saavedra, Roemi E. ; Sarria Paz, Javier F. ; Armada, Manuel
KeywordsHumanitarian demining
Walking robots
Hexapod robots
Scanning manipulators demining
Issue Date6-Sep-2015
PublisherWorld Scientific Publishing
Citation18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Sept. 6-9, HangZhou, China. Assistive Robotics. (CLAWAR 2015): 446-453 (2015)
AbstractThe 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.
DescriptionDisponible en: http://www.worldscientific.com/doi/abs/10.1142/9789814725248_0055
Publisher version (URL)10.1142/9789814725248_0055
Appears in Collections:(CAR) Comunicaciones congresos
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