mTBM-Guidance

Advanced ranged navigation system for microtunnelling boring machines

Main researcher: C. Balaguer

guiado

Description

Nowadays underground construction requires improvements in several issues to become the first choice when civil projects for water pipes, waste waters, and other services infrastructures are executed. One of the most consolidated build’s process without trenchless, makes use of microtunnelling machines. To assure competitiviness one of the critical issues is the navigation of the drilling machine under the soil. Traditional laser based systems haven’t got enough range and requires periodical recalibration of topography during the machine travel.
An extended-range navigation system for microtunnelling boring machines is being developed upon the directives of the client in order to improve the overall process.

Entries:
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
European humanoid robotics program
Clawar news. , vol. 9 , pages: 13 – 14 , 2002

Entries:
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
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 Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms
International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
J. M. Pardos-Gotor
Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), 2004, Sendai, Japan
M. Arbulu
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
User friendly graphical environment for gait optimization of the humanoid robot Rh-0
7tn International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu P. Staroverov
Development of the light-weight human size humanoid robot Rh-0
7th International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu
Human Machine Interface for Humanoid Robot Rh-0
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
Lie Groups and Lie Algebras in Robotics.
University Carlos III of Madrid – ROBOTICSLAB SEMINAR., Madrid, Spain
J. M. Pardos-Gotor
EU Humanoid Robots. What is the next step?
5th International Conference on Climbing and Walking Robots (CLAWAR?02), 2014, Paris, France
Humanoid Robot Kinematics Modeling Using Lie Groups
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
J. M. Pardos-Gotor

Previous Project

next project