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

Anastasia Bolotnikova, Kevin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, Adolfo Suarez-Roos, Patrice Rabate, Abderrahmane Kheddar
2017 2017 13th IEEE Conference on Automation Science and Engineering (CASE)  
et al.. A circuit-breaker use-case operated by a humanoid in aircraft manufacturing. 13th IEEE Abstract-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
more » ... k 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.
doi:10.1109/coase.2017.8256069 dblp:conf/case/BolotnikovaCPEA17 fatcat:glsmp3cqdbhibhmaxurzvnqhqe