Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications. Freese, M., Singh, S. P. N., Singhose, W., Fukushima, E., & Hirose, S. In Howard, A., Iagnemma, K., & Kelly, A., editors, Field and Service Robotics, volume 62, of Springer Tracts in Advanced Robotics, pages 3-12, 2010. Springer. 10.1007/978-3-642-13408-1_1
Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications [link]Paper  abstract   bibtex   
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.
@INPROCEEDINGS{demining.fsr,
  author = {M. Freese and S. P. N. Singh and W. Singhose and E. Fukushima and
	S. Hirose},
  title = {Terrain Modeling and Following Using a Compliant Manipulator for
	Humanitarian Demining Applications},
  booktitle = {Field and Service Robotics},
  year = {2010},
  editor = {Howard, Andrew and Iagnemma, Karl and Kelly, Alonzo},
  volume = {62},
  series = {Springer Tracts in Advanced Robotics},
  pages = {3-12},
  publisher = {Springer},
  note = {10.1007/978-3-642-13408-1_1},
  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.},
  affiliation = {Tokyo Institute of Technology Department of Mechanical and Aerospace
	Eng.},
  fauthor = {Freese, Marc and Singh, Surya and Singhose, William and Fukushima,
	Edwardo and Hirose, Shigeo},
  pdf = {demining.fsr.pdf},
  url = {http://dx.doi.org/10.1007/978-3-642-13408-1_1}
}

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