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Robots to Re-Construction

Deliverables

Sensor system for local process monitoring implemented and functional

Sensor system for local process monitoring is implemented and functional.

Mobile platform V1 tested and ready for integration to the robotic system

Mobile platform V1 is tested and ready for integration to the robotic system.

Robotic system V1, ready for the use in the test rehabilitation site

The robotic system V1 is ready for the use in the test rehabilitation site.

Autonomous task planning, process control and execution implemented

Autonomous task planning, process control and execution are implemented

Robotic arm V1 tested and ready for integration to the robotic system

The robotic arm V1 is tested and ready for integration to the robotic system.

Testing rehabilitation site available for regular tests

A testing rehabilitation site is available for regular tests.

Sensor system for environmental perception ready for implementation

The sensor system for environmental perception is ready for implementation.

Semi-autonomous execution of a of a single asbestos-removal-task implemented and process control system documented

Semi-autonomous execution of a single asbestos-removal-task is implemented and the process control system is documented

Mobile platform V2 tested and ready for integration to the robotic system

The mobile platform V2 is tested and ready for integration to the robotic system.

Robotic system V2, ready for the use in the test rehabilitation site

The robotic system V2 is ready for the use in the test rehabilitation site.

Robotic arm V2, tested and ready for integration to the robotic system

Robotic arm V2 is tested and ready for integration to the robotic system.

Final report for the demonstration and benchmark of process and system

The final report for the demonstration and benchmark of process and system is provided.

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Publications

A smooth position-force controller for asbestos removal manipulator

Author(s): Kamal Mohy El Dine, Juan-Antonio Corrales-Ramon, Youcef Mezouar, Jean-Christophe Fauroux
Published in: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, Page(s) 1312-1319
DOI: 10.1109/ROBIO.2017.8324599

Hybrid Position/Force Control with Compliant Wrist for Grinding




Mobile robots on construction sites: challenges and developments

Author(s): Detert, Tim; Corves, Burkhard; Hüsing, Mathias; Fauroux, Jean-Christophe ; Becchi, Francesco
Published in: 23rd JC IFToMM Symposium on Theory of Machines and Mechanisms,, Issue 23, 2017, Page(s) 91-96

Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software

Author(s): S. Maraje, J. C. Fauroux, B. C. Bouzgarrou, L. Adouane
Published in: New Advances in Mechanism and Machine Science Proceedings of The 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017), 2017, Page(s) 253-261
DOI: 10.1007/978-3-319-79111-1_25

A Method for Structural Synthesis of Cooperative Mobile Manipulators

Author(s): Z.-E. Chebab, J.-C. Fauroux, G. Gogu, N. Bouton, L. Sabourin, Y. Mezouar
Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics, 2017, Page(s) pp 279-286
DOI: 10.1007/978-3-319-45450-4_28

Robotized grinding experiments of construction materials for asbestos removal operation

Author(s): Trebot Quentin, Da Rosa Aguirre Harrisson, Vaslin Philippe, Fauroux Jean-Christophe, Chapelle Frédéric, Sabourin Laurent
Published in: Advances in Mechanism and Machine Science - Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Issue 73, 2019, Page(s) 2621-2630
DOI: 10.1007/978-3-030-20131-9_259

Stability analysis of an asbestos removal mobile manipulator for safe grinding trajectories

Author(s): Siddharth Maraje, Jean-Christophe Fauroux, Chedli-Belhassen Bouzgarrou, Lounis Adouane
Published in: Advances in Mechanism and Machine Science - Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Issue 73, 2019, Page(s) 2349-2358
DOI: 10.1007/978-3-030-20131-9_232

Bots2ReC: Radar Localization in Low Visibility Indoor Environments

Author(s): Nils Mandischer, Sami Charaf Eddine, Mathias Huesing, Burkhard Corves
Published in: 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2019, Page(s) 158-163
DOI: 10.1109/ssrr.2019.8848981

Bots2ReC: Radar-SLAM für die Teilautonome Asbestsanierung

Author(s): Sami Charaf Eddine, Nils Mandischer, Mathias Huesing, Burkhard Corves
Published in: Tagungsband VDI Mechatronik 2019, 2019

Robots that remove health risks

Author(s): Detert, Tim; Corves, Burkhard
Published in: EU research, Issue Winter 2017, 2017, Page(s) 60-61

Premiers Pas Sur Les Chantiers

Author(s): Francois Ploye (after interview with Jean-Christophe Fauroux)
Published in: Qualité Construction, 2019, Page(s) 67-73

Bots2ReC: introducing mobile robotic units on construction sites for asbestos rehabilitation

Author(s): Tim Detert, Sami Charaf Eddine, Jean-Christophe Fauroux, Tobias Haschke, Francesco Becchi, Burkhard Corves, Roberto Guzman, Fabian Herb, Bruno Linéatte, Daniel Martin
Published in: Construction Robotics, Issue 1/1-4, 2017, Page(s) 29-37, ISSN 2509-8780
DOI: 10.1007/s41693-017-0007-1

Current Research Topics in Robotics at IGMR

Author(s): Burkhard Corves, Mathias Huesing, Nils Mandischer, Markus Schmitz, Amirreza Shahidi, Michael Lorenz, Sami Charaf Eddine
Published in: Robotics and Mechatronics - Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM 2019), Issue 78, 2020, Page(s) 510-521
DOI: 10.1007/978-3-030-30036-4_47