{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T18:03:18Z","timestamp":1764784998547},"reference-count":20,"publisher":"Walter de Gruyter GmbH","issue":"10","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,26]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The disposal of nuclear waste poses a long-standing problem, which has been conventionally handled by human workers. This includes carrying heavy objects, exposure to radiation, and decontamination in full-body protective suits. To improve the working conditions and safety of the workers, robot systems can contribute to tackling some of these problems. So far, most robots in use are manually teleoperated and lack autonomy. To this end, we propose a fully autonomous decontamination setup with the humanoid robot ARMAR-6 [T. Asfour, M. W\u00e4chter, L. Kaul, et\u00a0al., \u201cARMAR-6: a high-performance humanoid for human-robot collaboration in real world scenarios,\u201d<jats:italic>IEEE Robot. Autom. Mag.,<\/jats:italic>vol. 26, no. 4, pp. 108\u2013121, 2019] that can manipulate unknown objects as a first important step of decontamination without the need for human intervention.<\/jats:p>","DOI":"10.1515\/auto-2022-0060","type":"journal-article","created":{"date-parts":[[2022,10,27]],"date-time":"2022-10-27T20:22:37Z","timestamp":1666902157000},"page":"850-858","source":"Crossref","is-referenced-by-count":2,"title":["Humanoid robotic system for grasping and manipulation in decontamination tasks"],"prefix":"10.1515","volume":"70","author":[{"given":"Christoph","family":"Pohl","sequence":"first","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patrick","family":"Hegemann","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Byungchul","family":"An","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Grotz","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tamim","family":"Asfour","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology , Karlsruhe , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2022,10,28]]},"reference":[{"key":"2023033111224380750_j_auto-2022-0060_ref_010","doi-asserted-by":"crossref","unstructured":"N. Marturi, A. Rastegarpanah, C. Takahashi, et al.., \u201cTowards advanced robotic manipulation for nuclear decommissioning: a pilot study on tele-operation and autonomy,\u201d in International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2017, pp.\u00a01\u20138.","DOI":"10.1109\/RAHA.2016.7931866"},{"key":"2023033111224380750_j_auto-2022-0060_ref_001","doi-asserted-by":"crossref","unstructured":"T. Asfour, M. W\u00e4chter, L. Kaul, et al.., \u201cARMAR-6: a high-performance humanoid for human-robot collaboration in real world scenarios,\u201d IEEE Robot. Autom. Mag., vol. 26, no. 4, pp. 108\u2013121, 2019. https:\/\/doi.org\/10.1109\/mra.2019.2941246.","DOI":"10.1109\/MRA.2019.2941246"},{"key":"2023033111224380750_j_auto-2022-0060_ref_017","doi-asserted-by":"crossref","unstructured":"I. Tsitsimpelis, C. J. Taylor, B. Lennox, and M. J. Joyce, \u201cA review of ground-based robotic systems for the characterization of nuclear environments,\u201d Prog. Nucl. 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