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Title

Design and Control of a Manipulator for Landmine Detection

AuthorsGarcía Armada, Elena ; González de Santos, Pablo
Issue Date2004
PublisherSpringer
CitationInternational Conference on Climbing and Walking Robots (7º. 2004. Madrid, Spain) pp. 1083-1090.
SeriesCLAWAR 2004
AbstractAntipersonnel mines infest fields all over the world. According to recent estimates, landmines are killing and maiming more than 2,000 innocent civilians per month [1]. The problem of landmine detection and removal requires the cooperation of various engineering fields. For this purpose, new technologies such as improved sensors, efficient manipulators and mobile robots are needed. This paper describes the configuration and control architecture of a scanning manipulator to detect antipersonnel landmines. The main features of the system that consists of a sensor head able to detect some kind of landmines and a manipulator to move the sensor head over large areas, conveniently sensorized to scan irregular terrains in the presence of obstacles are presented. Experiments show the performance of the whole system.
Publisher version (URL)http://www.springerlink.com/content/?k=clawar+2004
URIhttp://hdl.handle.net/10261/8036
ISBN3-540-22992-2
Appears in Collections:(IAI) Comunicaciones congresos
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