A circuit-breaker use-case operated by a humanoid in aircraft manufacturing
A circuit-breaker use-case operated by a humanoid in aircraft manufacturing
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DOI：
10.1109/coase.2017.8256069
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发表时间：
2017-08
期刊：
影响因子：
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通讯作者：
Anastasia Bolotnikova;Kevin Chappellet;Antonio Paolillo;Adrien Escande;G. Anbarjafari;Adolfo Suarez-Roos;P. Rabaté;A. Kheddar
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文献类型：
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作者：
Anastasia Bolotnikova;Kevin Chappellet;Antonio Paolillo;Adrien Escande;G. Anbarjafari;Adolfo Suarez-Roos;P. Rabaté;A. Kheddar
采用轮式或嵌入式平台的大型飞机制造的自动化需要对制造过程和环境进行代价高昂的改变。人形机器人可以解决这个问题。我们提出了HRP-4人形操作断路器的用例。我们展示了使用视觉反馈和力控制在一个集成和统一的多接触和多模态任务空间二次规划（QP）全身控制框架，使HRP-4执行任务的可行性。我们讨论了实验结果，并概述了目前的平台设计和控制实现的局限性。
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.