Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Livrables

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

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

Setup of the communication infrastructure webserver mailing list netmeeting etc

Final demonstrator and technology recommendations

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

Publications

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

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

Auteurs: Bernd Henze, Alexander Dietrich, Christian Ott
Publié dans: IEEE Robotics and Automation Letters, Numéro 1/2, 2016, Page(s) 700-707, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2015.2512933

Balancing a humanoid robot with a prioritized contact force distribution

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

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

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

Parametrization of Catmull-Clark subdivision surfaces for posture generation

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

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

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

Whole-body planning for humanoids along deformable tasks

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

Inversion-based gait generation for humanoid robots

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

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

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

Humanoid posture generation on non-Euclidean manifolds

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

Falls control using posture reshaping and active compliance

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

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

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

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