An humanoid robot for inspections and cleaning tasks in nuclear glove box

Jeremy Seyssaud (1) , Julien Favrichon (1) , Kevin Giraud-Esclasse (1) , Philippe Girones (1) , Najib Mahjoubi (1) , Sven Bock (2) , Philippe Capdepuy (2) , Cyril Moitrier (1)

1 CEA-DES (ex-DEN) - CEA-Direction des Energies (ex-Direction de l'Energie Nucléaire)
2 HumaRobotics

This article presents an opportunity evaluation of the use of humanoid robots in a nuclear environment. The project worked on the DaRwIn-OP platform to assess and carry out the modifications the robot needed to enable it to perform as an intervention operator in a nuclear location. The study had two main lines, based on equipping the humanoid with a radiological measurement capture system and with an arm command system using a depth camera. The tests performed showed the robot's ability to make radiological measurements with the built in detector and to collect swipe samples to assess the contamination of an object.

Mots clés: Humanoid Robot; Nuclear; Dismantling

Domaines: Automatique / Robotique

Jeremy Seyssaud, Julien Favrichon, Kevin Giraud-Esclasse, Philippe Girones, Najib Mahjoubi, et al.. An humanoid robot for inspections and cleaning tasks in nuclear glove box. 2015. ⟨hal-01254973⟩