Name
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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/COASE.2017.8256069 | 2017 13th IEEE Conference on Automation Science and Engineering (CASE) |
Keywords | Field | DocType |
large-scale aircraft manufacturing,wheeled embedded platforms,manufacturing process,humanoid robots,HRP-4 humanoid operating circuit-breakers,visual feedback,force control,multimodal task space quadratic programming whole-body control framework,aircraft manufacturing | Simulation,Control engineering,Automation,Circuit breaker,Quadratic programming,Engineering,Robot,Manufacturing process,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2161-8070 | 978-1-5090-6782-4 | 1 |
PageRank | References | Authors |
0.36 | 0 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Anastasia Bolotnikova | 1 | 3 | 3.55 |
| Kevin Chappellet | 2 | 1 | 0.36 |
| Antonio Paolillo | 3 | 31 | 6.79 |
| Adrien Escande | 4 | 273 | 22.91 |
| Gholamreza Anbarjafari | 5 | 347 | 36.51 |
| Adolfo Suarez-Roos | 6 | 1 | 0.70 |
| Patrice Rabaté | 7 | 1 | 0.36 |
| Abderrahmane Kheddar | 8 | 1191 | 101.66 |