By Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José
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Extra info for A reference control architecture for service robots implemented on a climbing vehicle
The solution was to house the wheels of Pookie with the widest and softest tires available, such as Formula One racing tires, to give the Pookie a low pressure they exert a minimum ground force. The width of the tires, in any case, spanned most landmine holes, lessening the chance of a detonation. In addition, the Pookie was propelled by an engine from a Volkswagen Beetle that was capable of taking Pookie to mine detection speeds of up to 60 kilometers per hour. Two drop-arm detectors were mounted left and right and equipped with a detection system that bounced magnetic waves into the ground as well as an acoustic signal to indicate metal.
It is a lightweight vehicle (less than 16 kg) and exerts a maximum force of 6 kg on the ground that is not supposed to trigger any of AP mines it detects. The wheels are driven by 90W DC motors from Maxon with 1:72 reductors aiming to give to the robot a maximum speed of 6 km/h power it. When searching for mines the Pemex head oscillates right and left in a zigzag movement covering a 1-meter wide path (Nicoud & Habib, 1995; Nicoud, 1996). The on-board 68331 microprocessor permits autonomous or teleoperated navigation.
Fig. 22. Design of multiple mechanical means of manual prodding Humanitarian Demining: the Problem, Difficulties, Priorities, Demining Technology and the Challenge for Robotics 39 A similar approach has been developed (Dawson-Howe & Williams, 1997). They have assembled a lab prototype, as shown in Fig. 23, intended to demonstrate the feasibility of automatic probing using on an XY table for the motion (to be fixed on a mobile platform at a later stage), together with a linear actuator, a force sensor and a sharpened steel rod.