Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Resultado final

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

Publicaciones

Peer reviewed articles (2)

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

Autores: Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Maximo A. Roa, Vittorio Lippi, Thomas Mergner
Publicado en: IEEE Robotics & Automation Magazine, 23/1, 2016, Page(s) 22-33, ISSN 1070-9932
Editor: 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

Autores: Bernd Henze, Alexander Dietrich, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, 1/2, 2016, Page(s) 700-707, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2015.2512933

Conference proceedings (10)

Balancing a humanoid robot with a prioritized contact force distribution

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

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

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

Parametrization of Catmull-Clark subdivision surfaces for posture generation

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

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

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

Whole-body planning for humanoids along deformable tasks

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

Inversion-based gait generation for humanoid robots

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

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

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

Humanoid posture generation on non-Euclidean manifolds

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

Falls control using posture reshaping and active compliance

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

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

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