TUNCONSTRUCT

Technology innovation in underground construction

Main researcher: C. Balaguer

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Description

The project´s 41 partners, from 11 European countries, integrate not only the on-the-field engineering experience and technical know-how of the industry, but also the research capabilities and conceptual innovation of the academic sector.

TUNCONSTRUCT is fully committed to contributing to an increased quality of life for Europeans by reducing construction time and cost of planned and future underground infrastructures.

The project is co-financed by the European Commission, under its 6th framework program, which provides 54% of its 26 million Euro quadrennial budget. Coordination rests on the Graz University of Technology, Austria.

TUNCONSTRUCT relies on active industry participation for future impact of targeted results. For this reason, leaders of its four research and technical development sub-programs – Design, Technologies, Processes, and Services, – have a strong industry background. Likewise, each of the specific work packages has a person and an institution leading its research efforts.

Imagine the Europeans’ cities wih undeground infrastructures:

? Dedicating extensive areas to parks, playgrounds and recreational facilities.

? Minimizing traffic obstructions and carbon monoxide contamination.

? Redirecting into productive and recreational activities, time previously wasted in slow-moving traffic.

TUNCONSTRUCT will contribute to congestion-free, greener and cleaner cities by reducing the cost and construction time of underground infrastructures.

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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