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

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.