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Communication Dans Un Congrès Année : 2018

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Kevin Chappellet
Antonio Paolillo
  • Fonction : Auteur
  • PersonId : 1003690
Adrien Escande
Patrice Rabaté
  • Fonction : Auteur

Résumé

Automation of large-scale aircraft manufacturing with wheeled or embedded platforms requires costly changes of the manufacturing process and the environment. Humanoid robots could address this issue. We present a use-case of HRP-4 humanoid operating circuit-breakers. We show the feasibility of using visual feedback and force control in an integrated and unified multi-contact and multimodal task space quadratic programming (QP) whole-body control framework to enable HRP-4 to perform the task. We discuss the experimental results and outline the limitations of the current platform design and control implementation.
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Dates et versions

hal-01565060 , version 1 (19-07-2017)

Identifiants

Citer

Anastasia Bolotnikova, Kevin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, et al.. A circuit-breaker use-case operated by a humanoid in aircraft manufacturing. CASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. pp.15-22, ⟨10.1109/COASE.2017.8256069⟩. ⟨hal-01565060⟩
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