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Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Deliverables

TRL presentation in front of Airbus Group reviewer panel

TRL presentation in front of Airbus Group reviewer panel

Preliminary safety guidelines and strategies

Preliminary safety guidelines and strategies

Integrated humanoid robot software and AIRBUS mission specification

Integrated humanoid robot software and AIRBUS mission specification Type = Document, report + OTHER

Report on walking report

Report on walking report

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

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 identify/recruit 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 HRP-4

Report on multi contact planning and control

Report on multi contact planning and control

Safety falling procedures and strategies

Safety falling procedures and strategies

Final safety guidelines and strategies

Final safety guidelines and strategies

Demonstrator specification report

Demonstrator specification report

Gender action plan

Gender action plan

Minutes of the Milestone review consortium meetings

Minutes of the Milestone review consortium meetings Delivery date : M1, M18, M30, M42

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

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

Final demonstrator and technology recommendations

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

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Publications

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
DOI: 10.1109/LRA.2015.2512933

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
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
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
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
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
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
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
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
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
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
DOI: 10.1109/HUMANOIDS.2015.7363423