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The Study of Mine Detecting and Dimining Technologys by Autonomous Walking Robot.

自主行走机器人探雷排雷技术研究。

基本信息

批准号：
11555066
负责人：
SHIMOI Nobuhiro
金额：
$ 7.62万
依托单位：
Tokyo National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B).
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11555066/
关键词：
Anch-personnel Mine Mine detecting Technology Mine demining Technology Walking Robot Walking Control 自律歩行

项目摘要

There are over than seventy million in humanitarian mines in the world and those mines prevent the economic growth of developing countries. thus, the mine removal becomes an emergency and a global problem. However, there are many victims by the removal work done now by human sea tactics and it is said that it will spend several hundreds years to remove all mines.We think that a method using a walking robot it valid for the mine detection and the removal efficiently and stably in extreme environment. We can think a quadruped locomotion robot, however, we propose a mine detecting and removing method by a six-legged locomotion robot from the viewpoints of stability, mobility and multi-function.This six-legged locomotion robot has some external sensors and includes autonomous and semi-autonomouscontrol method for avoiding obstacles.It is very important for demining work that the robot places each leg avoiding the mines, precisely and keeping the stable attitude. And, a mine field is an uneven terrain, attitude control should be needed to keep the body attitude in constant. In this study, we discuss the attitude control for six-legged robot. First, three dimension model of demining six-legged robot COMET-I is built up on a CAD (DADS/Plant). The validity of this study method based on the CAD was verified by the studies of the quadruped robot TITAN-8. Next, we examine the attitude control.In this study, we expand Sky Hook Suspention Control (SHSC) proposed by Yoneda et. For the attitude control of a quadruped robot into a six-legged locomotion robot. The validity of our proposed method is verified by the 3-D simulation.

世界上有7000多万枚人道主义地雷，这些地雷阻碍了发展中国家的经济增长。因此，扫雷成为一个紧迫的全球性问题。然而，目前的人海战术排雷工作有很多受害者，据说要花几百年的时间才能清除所有的地雷，我们认为使用步行机器人的方法是有效的，在极端环境下的地雷探测和清除有效和稳定。本文从稳定性、机动性和多功能性的角度出发，提出了一种六足机器人探雷和扫雷方法，该机器人具有外部传感器，并具有自主和半自主的避障控制方法，使机器人的每条腿都能避开地雷，保持稳定的姿态。而且，雷场地形不平坦，需要进行姿态控制，以保持车体姿态恒定。在本研究中，我们讨论六足机器人的姿态控制。首先，在CAD（DADS/Plant）上建立了排雷六足机器人COMET-1的三维模型。通过对四足机器人TITAN-8的研究，验证了基于CAD的研究方法的有效性。其次，我们研究了姿态控制，在这项研究中，我们扩展了由米田等人提出的天钩悬浮控制（SHSC）。将四足机器人姿态控制为六足运动机器人。三维仿真结果验证了该方法的有效性。