Airbus/future of aircraft factory HRP-2 as universal worker proof of concept

We present a preliminary proof of concept (PoC) aiming at introducing humanoid robots in an aircraft factory. The PoC was aiming at demonstrating the capacity of HRP-2 to deal with three aspects needed in a factory: reactivity to change in the environment, visual feedback and on-line motion generation. The limits reached in this PoC are here highlighted to draw some direction of research focused on the needs of Aircraft manufacturers.

[1]  Olivier Stasse,et al.  A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks , 2009, ICAR.

[2]  Andrei Herdt,et al.  Walking without thinking about it , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Olivier Stasse,et al.  Fast Humanoid Robot Collision-Free Footstep Planning Using Swept Volume Approximations , 2012, IEEE Transactions on Robotics.

[4]  Maren Bennewitz,et al.  Anytime search-based footstep planning with suboptimality bounds , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[5]  Claire Dune,et al.  Vision based control for Humanoid robots , 2011 .

[6]  Masayuki Inaba,et al.  Motion Planning for Humanoid Robots , 2003, ISRR.