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Journal Articles IEEE Robotics and Automation Magazine Year : 2019

Humanoid robots in aircraft manufacturing

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Stéphane Caron
Pierre Gergondet
  • Function : Author
  • PersonId : 935991
Arnaud Tanguy
Pierre-Brice Wieber
Adrien Escande
Kevin Chappellet
Patrice Rabate
  • Function : Author

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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Dates and versions

lirmm-02303117 , version 1 (02-10-2019)

Identifiers

Cite

Abderrahmane Kheddar, Stéphane Caron, Pierre Gergondet, Andrew Comport, Arnaud Tanguy, et al.. Humanoid robots in aircraft manufacturing. IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.30-45. ⟨10.1109/MRA.2019.2943395⟩. ⟨lirmm-02303117⟩
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