TechnoFusión

Techologies for nuclear fusion

Main researcher: L. Moreno

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Description

The project outlined in this report describes the construction of a singular scientific and technological facility (the National Centre for Fusion Technologies – TechnoFusión) in the Madrid region, to create the infrastructure required to develop the technologies needed in future commercial fusion reactors, and to assure the participation of Spanish research groups and companies. The future commercial production of electricity based on thermonuclear fusion requires the development of a number of research projects in addition to ITER, mostly related to the development of long-term technologies needed for future fusion reactors. Among the priority areas identified in the framework of international fusion research programmes, it is projected to build a specific research centre for fusion technologies in Spain. The so-called National Centre for Fusion Technologies, TechnoFusión, will be equipped with a large number of top facilities for the fusion technological development. The research activities will be focused primarily on several areas, including the implementation of advanced manufacturing technologies, the evaluation of radiation effects on low activation structural and functional materials, the in-beam and out-beam characterization of materials, the development of robotics and automated systems for remote handling, studies of liquid metal technologies and computer simulation.
Currently no similar facilities to TechnoFusión exist, so it will provide more realistic tests than those available in other facilities up today, helping in the fast track to DEMO and IFMIF.
RoboticsLab participates in remote handling (RH) applications. The principal objective is to create a facility where tele-robotic tasks for the maintenance and repair of nuclear fusion installations (ITER, DEMO, and IFMIF) can be developed and tested.

Entries:
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
Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation
Applied Bionics and Biomechanics. num. 4 , vol. 5 , pages: 225 – 234 , 2009
C.A. Monje P. Pierro

Entries:
O. Stasse; A. Kheddar; K. Yokoi. Humanoid feet trajectory generation for the reduction of the dynamical effects
The 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids '09), Paris, France
P. Pierro
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
Humanoid Teleoperation System for Space Environments
14th International Conference on Advanced Robotics (ICAR '09), 2009, Munich, Germany
P. Pierro M. González-Fierro D. Hernandez
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
Capítulo: “Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova”
At Proceedings of the V Workshop ROBOCITY2030. Cooperación en Robótica, 2009, Madrid, Spain
D. Herrero P. Pierro A. Jardon
Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks
IEEE RAS/RSJ Conference on Humanoids Robots, Daejeon, Korea
P. Pierro C.A. Monje
CEABOT: Nationalwide Little humanoid robots competition; rules, experiences and new challenges
Intl. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS, 2008, Venice. , ITALY
P. Zafra A. Gimenez S. Martinez A. Jardon
Robots in future collaborative working environments
First workshop for young researchers on Human-friendly robotics, Napoli, Italy
P. Pierro
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

Entries:
CLIMBING AND WALKING ROBOTS
chapter: A PORTABLE LIGHT-WEIGHT CLIMBING ROBOT FOR PERSONAL ASSISTANCE APPLICATIONS pages: 961 – 968. CLAWAR 05 , ISBN: 978-3-540-26413, 2006
A. Gimenez A. Jardon

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