Abstract: Apparatus and method is provided for performing detailed mine detection over variable terrain. An articulated robotic scanner comprises an articulated arm mounted to any vehicle such as a robot. One or more mine detectors mounted at the end of the arm. The arm operates autonomously to repetitively sweep the mine detector in ever forward advancing side-to-side arcs over the terrain. The vehicle can operate autonomously or be tele-operated. The position of the mine detector is monitored and known with respect to a known coordinate system. Sensors measure their position relative to the ground and relative to known co-ordinates of the mine detector. A controller determines the relative position of the ground and the mine detector and dynamically adjusts the mine detector's position to maintain a constant separation over variable terrain without ever contacting the ground or objects thereon.