A Humanoid Torso For Palletization in Logistics Warehouses

Khairidine Benali , Jean-François Brethé (1) , François Guerin (1) , Marc Gorka , Ali Sayah

1 GREAH - Groupe de Recherche en Electrotechnique et Automatique du Havre

This paper presents a new motion controller for object manipulation in 6D-space with a dual-arm robot manipulator. Current industrial systems often consist of a single robot arm commanded through a teach pendant. These systems are unable to pick and place boxes with different dimensions due to the specifications of their end-effector, which is restrictive. Our work involves a dual-arm humanoid robot with two Universal Robots (UR10) arms and a torso (CROM) for manipulating big and/or heavy objects. The motion controller has been designed for coordinated manipulation according to the desired trajectory of the object. To prevent the objects from drifting and falling, an hybrid force-motion controller is implemented using sensors located at the end-effectors. The different components (arms, torso, camera, force sensors...) of the system are controlled using ROS, which is an open-source meta-operating system distributed for research and development in robotics.

Domaines: Automatique / Robotique

Khairidine Benali, Jean-François Brethé, François Guerin, Marc Gorka, Ali Sayah. A Humanoid Torso For Palletization in Logistics Warehouses. 12th International Doctoral Student Workshop on Logistics, Jun 2019, Magdeburg, Germany. ⟨hal-02757152v2⟩