Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Project Information

COMANOID

Grant agreement ID: 645097

DOI 10.3030/645097

Project closed

EC signature date 10 December 2014

Start date 1 January 2015

End date 31 December 2018

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 4 244 481,25

EU contribution € 4 244 481,25

Coordinated by

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
France

Deliverables

Documents, reports (13)

TRL presentation in front of Airbus Group reviewer panel
Preliminary safety guidelines and strategies
Integrated humanoid robot software and AIRBUS mission specification

Integrated humanoid robot software and AIRBUS mission specificationType Document report OTHER

Report on walking report
Preliminary version of methods and software related to visual perception for demonstration on the COBOT platform
Ethics report

This deliverable will detail the procedures and criteria that are used to identifyrecruit research participants together with the informed consent procedures that will be implemented in order to experiment identified situations of human interaction with or in the vicinity of the robot

Methods and software on visual perception and contact sensing for demonstration on TORO and HRP-4

Methods and software on visual perception and contact sensing for demonstration on TORO and HRP4

Report on multi contact planning and control
Safety falling procedures and strategies
Final safety guidelines and strategies
Demonstrator specification report
Gender action plan
Minutes of the Milestone review consortium meetings

Minutes of the Milestone review consortium meetingsDelivery date M1 M18 M30 M42

Websites, patent fillings, videos etc. (1)

Setup of the communication infrastructure (web-server, mailing list, net-meeting, etc.)

Setup of the communication infrastructure webserver mailing list netmeeting etc

Demonstrators, pilots, prototypes (1)

Final demonstrator and technology recommendations

Final demonstrator and technology recommendations Nature/Type = Demonstrator + Report

Publications

Peer reviewed articles (2)

Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots

Author(s): Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Maximo A. Roa, Vittorio Lippi, Thomas Mergner
Published in: IEEE Robotics & Automation Magazine, Issue 23/1, 2016, Page(s) 22-33, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2015.2507098

An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

Author(s): Bernd Henze, Alexander Dietrich, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 1/2, 2016, Page(s) 700-707, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2015.2512933

Conference proceedings (10)

Balancing a humanoid robot with a prioritized contact force distribution

Author(s): Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 223-228, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363555

Real-time planning and execution of evasive motions for a humanoid robot

Author(s): Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 4200-4206, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487614

Parametrization of Catmull-Clark subdivision surfaces for posture generation

Author(s): Adrien Escande, Stanislas Brossette, Abderrahmane Kheddar
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1608-1614, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487300

Whole-body motion planning for humanoids based on CoM movement primitives

Author(s): Marco Cognetti, Pouya Mohammadi, Giuseppe Oriolo
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 1090-1095, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363504

Whole-body planning for humanoids along deformable tasks

Author(s): Marco Cognetti, Valentino Fioretti, Giuseppe Oriolo
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1615-1620, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487301

Inversion-based gait generation for humanoid robots

Author(s): Leonardo Lanari, Seth Hutchinson
Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 1592-1598, ISBN 978-1-4799-9994-1
Publisher: IEEE
DOI: 10.1109/IROS.2015.7353580

Planning desired center of Mass and zero moment point trajectories for bipedal locomotion

Author(s): Leonardo Lanari, Seth Hutchinson
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 637-642, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363438

Humanoid posture generation on non-Euclidean manifolds

Author(s): Stanislas Brossette, Adrien Escande, Gregoire Duchemin, Benjamin Chretien, Abderrahmane Kheddar
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 352-358, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363574

Falls control using posture reshaping and active compliance

Author(s): Vincent Samy, Abderrahmane Kheddar
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 908-913, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363469

A robust linear MPC approach to online generation of 3D biped walking motion

Author(s): Camille Brasseur, Alexander Sherikov, Cyrille Collette, Dimitar Dimitrov, Pierre-Brice Wieber
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 595-601, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363423