Humanoid robots in aircraft manufacturing

Abstract : We report results from a collaborative project that investigated the deployment of humanoid robotic solutions in aircraft manufacturing for some assembly operations where access is not possible for wheeled or rail-ported robotic platforms. Recent developments in multi-contact planning and control, bipedal walking, embedded SLAM, whole-body multi-sensory task space optimization control, and contact detection and safety, suggest that humanoids could be a plausible solution for automation given the specific requirements in such large-scale manufacturing sites. The main challenge is to integrate these scientific and technological advances into two existing humanoid platforms: the position controlled HRP-4 and the torque controlled TORO. This integration effort was demonstrated in a bracket assembly operation inside a 1:1 scale A350 mock-up of the front part of the fuselage at the Airbus Saint-Nazaire site. We present and discuss the main results that have been achieved in this project and provide recommendations for future work.
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Submitted on : Wednesday, October 2, 2019 - 8:56:20 AM
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Abderrahmane Kheddar, Stéphane Caron, Pierre Gergondet, Andrew Comport, Arnaud Tanguy, et al.. Humanoid robots in aircraft manufacturing. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, In press, 26 (4), pp.1-12. ⟨10.1109/MRA.2019.2943395⟩. ⟨lirmm-02303117⟩

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