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Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Objective

COMANOID investigates the deployment of robotic solutions in well-identified Airbus airliner assembly operations that are laborious or tedious for human workers and for which access is impossible for wheeled or rail-ported robotic platforms. As a solution to these constraints a humanoid robot is proposed to achieve the described tasks in real-use cases provided by Airbus Group. At a first glance, a humanoid robotic solution appears extremely risky, since the operations to be conducted are in highly constrained aircraft cavities with non-uniform (cargo) structures. Furthermore, these tight spaces are to be shared with human workers. Recent developments, however, in multi-contact planning and control suggest that this is a much more plausible solution than current alternatives such as a manipulator mounted on multi-legged base. Indeed, if humanoid robots can efficiently exploit their surroundings in order to support themselves during motion and manipulation, they can ensure balance and stability, move in non-gaited (acyclic) ways through narrow passages, and also increase operational forces by creating closed-kinematic chains. Bipedal robots are well suited to narrow environments specifically because they are able to perform manipulation using only small support areas. Moreover, the stability benefits of multi-legged robots that have larger support areas are largely lost when the manipulator must be brought close, or even beyond, the support borders. COMANOID aims at assessing clearly how far the state-of-the-art stands from such novel technologies. In particular the project focuses on implementing a real-world humanoid robotics solution using the best of research and innovation. The main challenge will be to integrate current scientific and technological advances including multi-contact planning and control; advanced visual-haptic servoing; perception and localization; human-robot safety and the operational efficiency of cobotics solutions in airliner manufacturing.

Call for proposal

H2020-ICT-2014-1
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Funding Scheme

RIA - Research and Innovation action

Coordinator

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
Address
Rue Michel Ange 3
75794 Paris
France
Activity type
Other
EU contribution
€ 1 156 537,50

Participants (4)

DEUTSCHES ZENTRUM FUR LUFT - UND RAUMFAHRT EV
Germany
EU contribution
€ 772 660
Address
Linder Hohe
51147 Koln
Activity type
Research Organisations
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE
France
EU contribution
€ 795 997,50
Address
Domaine De Voluceau Rocquencourt
78153 Le Chesnay Cedex
Activity type
Research Organisations
UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA
Italy
EU contribution
€ 719 215
Address
Piazzale Aldo Moro 5
00185 Roma
Activity type
Higher or Secondary Education Establishments
AIRBUS
France
EU contribution
€ 800 071,25
Address
2 Rond Point Emile Dewoitine
31700 Blagnac
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)