Humanoid robots in aircraft manufacturing

Abderrahmane Kheddar 1, 2 Stéphane Caron 2 Pierre Gergondet 3 Andrew Comport 4 Arnaud Tanguy 2 Christian Ott 5 Bernd Henze 5 George Mesesan 5 Johannes Englsberger 5 Máximo Roa 5 Pierre-Brice Wieber 6 François Chaumette 7 Fabien Spindler 7 Giuseppe Oriolo 8 Leonardo Lanari 9 Adrien Escande 3 Kévin Chappellet 3 Fumio Kanehiro 10 Patrice Rabate 11
1 CNRS-AIST JRL - Joint Robotics Laboratory [France]
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 CNRS-AIST JRL - Joint Robotics Laboratory [Japan]
4 I3S - Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis
5 DLR - German Aerospace Center
6 Inria Grenoble - Rhône-Alpes
7 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
8 Dipartimento di Informatica e Sistemistica [Rome]
9 DIAG - Dipartimento di Ingegneria informatica automatica e gestionale
10 AIST - National Institute of Advanced Industrial Science and Technology
11 Airbus [France]
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.
Keywords : visual servoing aircraft manufacturing SLAM whole-body control multi-contact planning Humanoid robots
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Submitted on : Wednesday, October 2, 2019 - 8:56:20 AM
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LIRMM | I3S | IDH | UNIV-RENNES1 | CNRS | CENTRALESUPELEC | MIPS | INRIA | UNIV-MONTPELLIER | UNICE | UNIV-COTEDAZUR | UNIV-RENNES | IRISA | UR1-UFR-ISTIC

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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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