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Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases

Kheddar, Abderrameh and Caron, Stephan and Gergondet, Pierre and Comport, Andrew and Tanguy, Arnaud and Ott, Christian and Henze, Bernd and Mesesan, George-Adrian and Englsberger, Johannes and Roa Garzon, Máximo Alejandro and Wieber, Pierre-Brice and Chaumette, Francois and Spindler, Fabian and Oriolo, Giuseppe and Lanari, Leonardo and Escande, Adrien and Chapellet, Kevin and Kanehiro, Fumio and Rabate, Patrice (2019) Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics & Automation Magazine, 26 (4), pp. 30-45. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2019.2943395. ISSN 1070-9932.

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Official URL: https://ieeexplore.ieee.org/abstract/document/8889461


We report on the results of a collaborative project that investigated the deployment of humanoid robotic solutions in air-craft manufacturing for several assembly op erations where access by wheeled or railported robotic platforms is not possible. Recent de velopments in multicontact planning and control, bipedal walking, embedded simultaneous localization and mapping (SLAM), whole-body multisensory task-space optimization control, and contact detection and safety suggest that humanoids could be a plausible solution for automation, given the specific requirements in large-scale manufacturing sites. The main challenge is the integration of these scientific and technological advances into two existing humanoid platforms: the position-controlled Human Robotics Project (HRP-4) and the torque-controlled robot (TORO). This integration effort was demonstrated during a bracket-assembly operation inside a 1:1-scale A350 mockup of the front part of the fuselage at the Airbus Saint-Nazaire site. We present and discuss the main results achieved in this project and provide recommendations for future work.

Item URL in elib:https://elib.dlr.de/133648/
Document Type:Article
Title:Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kheddar, AbderramehNational Center for Scientific ResearchUNSPECIFIED
Caron, StephanNational Center for Scientific ResearchUNSPECIFIED
Gergondet, PierreNational Center for Scientific ResearchUNSPECIFIED
Comport, AndrewNational Center for Scientific Research, University de Nice,UNSPECIFIED
Tanguy, ArnaudUniversity of MontpellierUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Henze, BerndBernd.Henze (at) dlr.deUNSPECIFIED
Mesesan, George-AdrianGeorge.Mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Englsberger, JohannesJohannes.Englsberger (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Wieber, Pierre-Bricepierre-brice.wieber (at) inria.frUNSPECIFIED
Chaumette, FrancoisNational Institute for Research in Computer Science and Automation, Irisa Rennes, FranceUNSPECIFIED
Spindler, FabianNational Institute for Research in Computer Science and Automation, Irisa Rennes, FranceUNSPECIFIED
Oriolo, GiuseppeSapienza University of Rome,UNSPECIFIED
Lanari, LeonardoSapienza University of Rome,UNSPECIFIED
Escande, AdrienAdvanced Industrial Science and TechnologyUNSPECIFIED
Chapellet, KevinNational Center for Scientific ResearchUNSPECIFIED
Kanehiro, FumioAdvanced Industrial Science and TechnologyUNSPECIFIED
Rabate, PatriceAirbusUNSPECIFIED
Date:December 2019
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/MRA.2019.2943395
Page Range:pp. 30-45
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:humanoid robots, balancing control, walking control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:20 Jan 2020 19:09
Last Modified:20 Jan 2020 19:09

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