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Title

Instrumented scanning manipulator for landmines detection tasks

AuthorsGavilanes, Javier; Fernández Saavedra, Roemi E. ; Montes, Héctor ; Sarria Paz, Javier F. ; González-de-Santos, Pablo ; Armada, Manuel
KeywordsManipulator
Humanitarian demining
Robot vision systems
Metals
Robotic arm
scanning
Landmines
Time-of-flight camera
Cameras
Detectors
Issue Date9-Apr-2015
PublisherInstitute of Electrical and Electronics Engineers
CitationAutonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on (pp. 180-185). IEEE.
AbstractThis 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.
URIhttp://hdl.handle.net/10261/140348
DOI10.1109/ICARSC.2015.36
Identifiersdoi: 10.1109/ICARSC.2015.36
isbn: 978-1-4673-6991-6
Appears in Collections:(CAR) Comunicaciones congresos
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