Abstract
Operations with flexible, compliant manipulators over large workspaces relative to the manipulator are complicated by noise, vibration, and measurement bias. These difficulties are compounded in unstructured environments, such as those encountered in humanitarian demining. By taking advantage of the static structure of the terrain and the manipulator’s fundamental mechanical characteristics, a series of adaptive corrections and filters refine noisy topographical measurements. These filters along with a shaped actuation scheme can generate smooth and well-controlled trajectories that allow for terrain surface following. Experimental testing was performed on a field robot with a compliant, 3 m long hybrid manipulator and a stereo vision system. The proposed method provides a vertical tracking precision of ±5 mm on a variety of ground clearings, with tip scanning speeds of up to 0.5 m/s. As such, it can agilely move the attached sensor(s) through precise scanning trajectories that are very close to the ground. This method improves overall detection and generation of precise maps of suspected mine locations.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Book, W.J.: Modeling, Design, and Control of Flexible Manipulator Arms: A Tutorial Review. In: Proc. of the 29th Conf. on Decision and Control, Honolulu (December 1990)
Craig, R.R., Bampton, M.: Coupling of Substructures for Dynamic Analysis. Journal of AIAA 6(7), 1313–1319 (1968)
CEIA Corporation. CEIA Metal Detector MIL-D1, Operator Manual
Debenest, P., Fukushima, E.F., Tojo, Y., Hirose, S.: A New Approach to Humanitarian Demining, Part 1: Mobile Platform for Operation on Unstructured Terrain. Journal of Autonomous Robots 18, 303–321 (2005)
Freese, M., et al.: Robotics Assisted Demining with Gryphon. Advanced Robotics 21(15), 1763–1786 (2007)
Freese, M., Singh, S., Fukushima, E., Hirose, S.: Bias-Tolerant Terrain Following Method for a Field Deployed Manipulator. In: Proc. Int. Conf. Robotics & Automation, pp. 175–180 (2006)
Ghaffari, M., Manthena, D., Ghaffari, A., Hall, E.L.: Mines and human casualties, a robotics approach toward mine clearing. In: SPIE Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, vol. 5608 (2004)
Ishikawa, J., Kiyota, M., Furuta, K.: Evaluation of Test Results of GPR-based Anti-personnel Landmine Detection Systems Mounted on Robotic Vehicles. In: Proc. of the IARP Int. Workshop on Robotics and Mechanical Assistance in Humanitarian Demining, Tokyo (June 2005)
Ishikawa, J., Kiyota, M., Pavkovic, N., Furuta, K.: Test and Evaluation of Japanese GPR-EMI Dual Sensor Systems at Benkovac Test Site in Croatia. Technical Report JST-TECH-MINE06-002, Japan Science and Technology Agency (2006)
Olson, C.F., Matthies, L.H., Wright, J.R., Li, R., Di, K.: Visual Terrain Mapping for Mars Exploration. In: Proc. IEEE Aerospace Conf., March 2004, vol. 2, pp. 762–771 (2004)
Singer, N.C., Seering, W.P.: Preshaping command inputs to reduce system vibration. J. of Dyn. Syst., Meas. Contr. 112, 76–82 (1990)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Freese, M., Singh, S.P.N., Singhose, W., Fukushima, E.F., Hirose, S. (2010). Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-13408-1_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13407-4
Online ISBN: 978-3-642-13408-1
eBook Packages: EngineeringEngineering (R0)