Nut fastening with a humanoid robot

Kai Pfeiffer (1) , Adrien Escande (1) , Abderrahmane Kheddar (2)

1 CNRS-AIST JRL - Joint Robotics Laboratory
2 IDH - Interactive Digital Humans

We study the HRP-2Kai humanoid robot's ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tasks demanding high precision in the execution and tuning. This includes the use of a robust visual servoing algorithm which allows the robot to move autonomously to a desired target and the design of specific tasks and estimators: a learning and admittance control that enables the robot to interact smoothly with its environment, and a fast and safe method to autonomously detect correct tool on nut insertion. We then show that the controller indeed enables our humanoid robot to achieve such a high precision task.

Domaines: Robotique [cs.RO]; Optimisation et contrôle [math.OC]

Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar. Nut fastening with a humanoid robot. IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148, ⟨10.1109/IROS.2017.8206515⟩. ⟨hal-02189053⟩