FutureHome

Housing for Europe in the next century: Affordable, high quality homes for all

Main researcher: C. Balaguer

FutureHome

Description

The main objective of the FutureHome project is the development of Integrated Construction Automation (ICA) concept and associated to them technologies during all the stages of the house-building construction process, i.e. from architect?s desk to site robots:

? Design the buildings in modular way taking in mind its robotic erection

? Automatic planning and real-time re-planning of the off-site pre-fabrication, transportation and on-site assembly

? On-site automatic and robotic transportation and assembly of the buildings pre-fabricated parts.

Nowadays methods on house building are based on manual techniques, which are slow, expensive and non-coordinated. Each building continues to be unique in architecture and construction sense. Even though the investigation to develop new construction techniques has been important during the past years there is still a long distance between the construction industry and others industries, like, for example, automobile industry. It is difficult to image the houses shall produce as the cars, but at the same time it is not possible to construct the houses as eighty years ago.

A change in the construction methods and the acceptance of the high quality and flexible prefabrication technologies are essential for the construction industry. Automatically build different houses with the same pre-fabricated modules is the challenge of this project. The benefits of construction industries can be improved by using advanced manufacturing systems. These modular systems will increase the quality and the customer satisfaction.

This idea of the modular house-building is not new. Several developments were done in the past. Some of them were used in massive way in Eastern Europe, Germany, Japan and other countries, but all the past approaches didn?t solve three main problems: a) quality of the modular houses, b) flexibility in the design, i.e. different interior and exterior design is made by the set of predefined modules, and c) robotic on-site assembly of modules. The FutureHome project tries to avoid these disadvantages introducing the ICA concept.

The FutureHome EU consortium is formed by: Imperial College (UK-leader), British Steel (UK), Dragados (E), Rautaruukki (SF), VTT (SF), Slavenburg (NL), Unysis (UK), BRE (UK), KTH (S), TUM (D), UC3M (E). The Japanese consortium is formed by: Hitachi Zosen, Shimizu, Kajima, Hazama, University of Osaka, AIST, Waseda University.

Entries:
TEO: Full-size humanoid robot design powered by a fuel cell system
An International Journal on Cybernetics and Systems . num. 3 , vol. 43 , pages: 163 – 180 , 2012
P. Pierro S. Martinez A. Jardon C.A. Monje
A model-free approach for accurate joint motion control in humanoid locomotion
International Journal of Humanoid Robotics. num. 1 , vol. 8 , 2011
J. Villagra
Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm
International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942. num. 1 , vol. 6 , pages: 71 – 91 , 2009
M. Arbulu
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas

Entries:
Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan
M. Arbulu S. Martinez A. Jardon C.A. Monje
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’2010, 2010, Taipei, China
M. Arbulu S. Martinez A. Jardon C.A. Monje
MULTIBODY DYNAMICS ON STABLE HUMANOID MOTION WITH SPECIAL EUCLIDEANS GROUPS, CALLED SE(3) (Accepted)
13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010), -,
M. Arbulu
A Human-Humanoid Interface for Collaborative Tasks
Second workshop for young researchers on Human-friendly robotics, Sestri Levante, Italy
P. Pierro M. González-Fierro D. Hernandez
A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots
The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09), St. Louis, USA
D. Kaynov P. Pierro
The Virtual COM Joints Approach for Whole-Body RH-1 Motion
18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09), Toyama , Japan
P. Pierro C.A. Monje
Performing collaborative tasks with the humanoid robot RH-1 – A novel control architecture
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Istanbul, Turkey
P. Pierro C.A. Monje
RH-2 an Upgraded full-size humanoid platform
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Istanbul, Turkey
M. Arbulu L.A. Pabon P. Pierro C. Perez S. Martinez
Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation
14th International Conference on Advanced Robotics (ICAR '09), Munich, Germany
P. Pierro C.A. Monje
K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France
M. Arbulu
INVERSE DYNAMICS MODELLING FOR HUMANOID ROBOTS BASED IN LIE GROUPS AND SCREWS
11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), 2008, Coimbra, Portugal
M. Arbulu
HUMAN-HUMANOID ROBOT COOPERATION IN COLLABORATIVE TRANSPORTATION TASKS
11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), 2008, Coimbra, Portugal
M. Arbulu
Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Pittsburg-Pensi, USA
M. Arbulu
Joint Control of a Humanoid Robot
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2007), Pittsburgh, USA
D. Kaynov
Trends of new robotics platform, designing Humanoid Robot Rh-1
CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, 2007, Bogota, Colombia
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1
Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas, 2007, Piura, Peru
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Industrial automation based approach to design control system of the humanoid robot
IEEE International Symposium on Industrial Electronics ISIE 2007, Vigo, Spain
D. Kaynov
Mechanical Calculations on a Humanoid Robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez R. Cabas L.M. Cabas P. Staroverov
Challenges in the design of the humanoid robot RH-1
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez R. Cabas L.M. Cabas P. Staroverov
A Voice Controlled Image Recognition System
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez L.M. Cabas P. Staroverov
Control Architecture for the dynamic humanoid robot walking. Application to the RH-1 robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez P. Staroverov
Advanced motion control system for the humanoid robot Rh-0
8th International Conference on Climbing and Walking Robots (Clawar 2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
Mechanical design and dynamic analysis of the humanoidrobot Rh-0
8th International Conference on Climbing and Walking Robots (Clawar 2005), London, United Kingdom
M. Arbulu D. Kaynov R. Cabas P. Staroverov
ZMP Human Measure System
8th International Conference on Climbing and Walking Robots (Clawar'2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), 2005, Tsukuba, Japan
M. Arbulu D. Kaynov J. M. Pardos-Gotor P. Staroverov

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