Walking hexapod for demining territory of postwar ukraine. General recommendations

Land Cover Mapping & UAV


First and Last Name Academic degree E-mail Affiliation
Illia Platov No ilya_platov [at] ukr.net Igor Sikorsky Kyiv Polytechnic Institute
Kyiv, Ukraine
Oleksii Pavlovskyi Ph.D. a_pav [at] ukr.net Igor Sikorsky Kyiv Polytechnic Institute
Kyiv, Ukraine
Yuliia Pavlovska No nakturna [at] ukr.net Igor Sikorsky Kyiv Polytechnic Institute
Kyiv, Ukraine
Diana Pivtorak Ph.D. p_diana [at] i.ua Igor Sikorsky Kyiv Polytechnic Institute
Kyiv, Ukraine
Oleksandr Sapehin Ph.D. o.sapegin [at] kpi.ua Igor Sikorsky Kyiv Polytechnic Institute
Kyiv, Ukraine

I and my co-authors (if any) authorize the use of the Paper in accordance with the Creative Commons CC BY license

First published on this website: 25.08.2023 - 10:50

After the end of the war in Ukraine, a large part of the territory will remain mined. Most of them are apartment buildings and the areas around them, hard-to-reach places such as tunnels, ventilation shafts, and apartments, etc.

Existing tools are specialized machines designed for demining in open areas or small wheeled/tracked robots that cannot climb stairs, up mines and vents, or overcome rubble or contaminated areas. Therefore, this paper proposes to use small-sized walking hexapod robots for demining operations in inaccessible places, as they have better cross-country ability and maneuverability and are able to overcome rubble and contaminated areas, as well as climb upward due to the friction forces of the limbs and the surface. This will enable the robot to monitor the condition of ventilation systems and tunnels, i.e. where humans cannot get in, which will additionally save their lives in the event of an explosion of dangerous objects. The construction of such robots requires an integrated approach, so this paper provides a list of recommendations that can be used to build a reliable and effective tool that can be used after the war to demine territories.


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