Development and Control of Mine Detection Robot COMET-II and COMET-III(<Special Issue>Advances in Motion and Vibration Control Technology)
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概要
- 論文の詳細を見る
In this paper, we elucidate the development and the multitask cooperative control of humanitarian demining assistance robots. In particular, the aim in this paper is to propose the first platform robots for humanitarian demining as a global pioneering project. Here we propose two kinds of mine detection robots which consists of six-legged walking robots with two manipulators for added stability, mobility, and functionality. One of the proposed mine detection robots is the COMET-II which is a 120 kg class robot driven by electric power. The other robot is the full autonomous mine detection robot the COMET-III which is a 1 ton class robot driven by hydraulic power with a gasoline engine. The COMET-III has a crawler and six legs and it can continue a mine detection operation for four hours. An improved version of this kind of robot will be engaged for mine detection operation in actual mine fields in the near future.
- 一般社団法人日本機械学会の論文
- 2003-09-15
著者
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NONAMI Kenzo
Department of Mechanical Engineering, Chiba University
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Fukao Yoichiro
Graduate School Of Science And Technology Chiba University
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Nonami Kenzo
Department Of Electronics And Mechanical Engineering Chiba University
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Asai Y
Graduate School Of Science And Technology Chiba University
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Asai Yoshitomo
Graduate School Of Science And Technology Chiba University
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Fujimoto Masaki
Graduate School Of Science And Technology Chiba University
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HUANG Qingjiu
Graduate School of Science and Technology, Chiba University
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KOMIZO Daisuke
Graduate School of Science and Technology, Chiba University
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SHIRAISHI Yoshinori
Graduate School of Science and Technology, Chiba University
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IKEDO Yosuke
Graduate School of Science and Technology, Chiba University
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Shiraishi Yoshinori
Graduate School Of Science And Technology Chiba University
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Komizo Daisuke
Graduate School Of Science And Technology Chiba University
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Huang Qingjiu
Graduate School Of Science And Technology Chiba University
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Fukao Yoichiro
Graduate School Of Biological Sciences Nara Institute Of Science And Technology
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Ikedo Yosuke
Graduate School Of Science And Technology Chiba University
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Nonami Kenzo
Department For Electronics And Mechanical Engineering University Of Chiba
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