Quantative Analysis of Mining Tunnels using Remotely Controlled Robot

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In this research, we obtain the quantitative data of mining tunnels all over Japan(Iwami Silver Mine and Sado Gold and Silver Mine etc.) using our original remotely controlled robots and show the changes for the cross section shape of them over ages that can be estimated based on those data. One of the results we have is that controlability and lightness are especially important for the robots dedicated to mining tunnel investigation. We have confirmed that the robot arm equipped against rolling of the robot can greatly increase the controlability. We believe that the data our system can provide for the cross section shape enables us to estimate the digging age and method of mining tunnels that prevent us from entering.