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A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Abstract : Automation of large-scale aircraft manufacturing with wheeled or embedded platforms requires costly changes of the manufacturing process and the environment. Humanoid robots could address this issue. We present a use-case of HRP-4 humanoid operating circuit-breakers. We show the feasibility of using visual feedback and force control in an integrated and unified multi-contact and multimodal task space quadratic programming (QP) whole-body control framework to enable HRP-4 to perform the task. We discuss the experimental results and outline the limitations of the current platform design and control implementation.
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Contributor : Anastasia Bolotnikova <>
Submitted on : Wednesday, July 19, 2017 - 2:15:22 PM
Last modification on : Tuesday, December 10, 2019 - 10:06:03 AM


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  • HAL Id : hal-01565060, version 1



Anastasia Bolotnikova, Kévin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, et al.. A circuit-breaker use-case operated by a humanoid in aircraft manufacturing. CASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. ⟨hal-01565060⟩



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