Periodic Reporting for period 3 - COMANOID (Multi-contact Collaborative Humanoids in Aircraft Manufacturing)
Reporting period: 2018-01-01 to 2018-12-31
We have structured the project into five work packages. The work achieved for the third and last reporting period is described together with the sub-objectives of each of them. As writing rules, we decided to simply refer to the deliverable document when a given work was released as a report; synthetize the main results for works that have been published as scientific papers but not released as a deliverable report; and finally provide a thorough explanation and description of the work otherwise (no published yet). We have also attached into the annex all publications that are new, (i.e. published or submitted within 2018) and not provided in any other deliverable (including previous ones).
- Finalizing all the pending publications, writing a book chapter concerning multi-contact planning and control in the Springer-Nature handbook of humanoids.
- Finalizing work that was on-going or initiated during the previous review meeting.
- Integration in the final demonstrators we achieved.
WP2 provides all the information required for multi-contact planning and control (WP1), as well as safe and robust walking (WP1 and WP3). Its outputs compose the main bricks for the humanoid perception integration achieved in WP4. Visual servoying and SLAM have been further developped and integrated to the demonstrators.
WP3 provides guidelines for the safe deployment of humanoid robots. The most critical aspect is the safety of human co-workers that share the environment with the robot. However, safety of the humanoid itself and of the surrounding environment is also very important. This period also focused on integration and finalizing the tasks that were in progress.
In WP4, the demonstrators are acheived and will be shown at the review meeting.