Humanoid robotic system for grasping and manipulation in decontamination tasks-Reference-Cited by-同舟云学术

Humanoid robotic system for grasping and manipulation in decontamination tasks

Published:2022-10-01 Issue:10 Volume:70 Page:850-858
ISSN:2196-677X
Container-title:at - Automatisierungstechnik
language:en
Short-container-title:

Author:

Pohl Christoph¹,Hegemann Patrick¹,An Byungchul¹,Grotz Markus¹,Asfour Tamim¹

Affiliation:

1. Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany

Abstract

Abstract The disposal of nuclear waste poses a long-standing problem, which has been conventionally handled by human workers. This includes carrying heavy objects, exposure to radiation, and decontamination in full-body protective suits. To improve the working conditions and safety of the workers, robot systems can contribute to tackling some of these problems. So far, most robots in use are manually teleoperated and lack autonomy. To this end, we propose a fully autonomous decontamination setup with the humanoid robot ARMAR-6 [T. Asfour, M. Wächter, L. Kaul, et al., “ARMAR-6: a high-performance humanoid for human-robot collaboration in real world scenarios,” IEEE Robot. Autom. Mag., vol. 26, no. 4, pp. 108–121, 2019] that can manipulate unknown objects as a first important step of decontamination without the need for human intervention.

Publisher

Walter de Gruyter GmbH

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Link

https://www.degruyter.com/document/doi/10.1515/auto-2022-0060/pdf

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