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COMANOID

Multi-contact Collaborative Humanoids in Aircraft Manufacturing

Total Cost €

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EC-Contrib. €

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Partnership

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 COMANOID project word cloud

Explore the words cloud of the COMANOID project. It provides you a very rough idea of what is the project "COMANOID" about.

perform    visual    perception    constrained    humanoid    close    robotics    investigates    plausible    integrate    efficiency    narrow    lost    shared    larger    bipedal    surroundings    small    closed    passages    cargo    suggest    gaited    risky    first    stands    benefits    airliner    planning    impossible    technologies    motion    aircraft    cobotics    operations    safety    legged    glance    robotic    tedious    ways    move    spaces    kinematic    balance    contact    manufacturing    localization    haptic    solution    platforms    tight    manipulator    robot    scientific    human    workers    constraints    chains    airbus    largely    suited    appears    ported    forces    rail    servoing    implementing    solutions    assembly    comanoid    world    structures    manipulation    uniform    assessing    extremely    deployment    themselves    borders    innovation    technological    laborious    environments    base    cavities    stability    acyclic    mounted    group    robots    wheeled    alternatives   

Project "COMANOID" data sheet

The following table provides information about the project.

Coordinator
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS 

Organization address
address: RUE MICHEL ANGE 3
city: PARIS
postcode: 75794
website: www.cnrs.fr

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country France [FR]
 Project website http://www.comanoid.eu
 Total cost 4˙244˙481 €
 EC max contribution 4˙244˙481 € (100%)
 Programme 1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-01-01   to  2018-12-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS FR (PARIS) coordinator 1˙156˙537.00
2    AIRBUS FR (BLAGNAC) participant 800˙071.00
3    INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE FR (LE CHESNAY CEDEX) participant 795˙997.00
4    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DE (KOELN) participant 772˙660.00
5    UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA IT (ROMA) participant 719˙215.00
6    AIRBUS GROUP SAS FR (BLAGNAC) participant 0.00

Map

 Project objective

COMANOID investigates the deployment of robotic solutions in well-identified Airbus airliner assembly operations that are laborious or tedious for human workers and for which access is impossible for wheeled or rail-ported robotic platforms. As a solution to these constraints a humanoid robot is proposed to achieve the described tasks in real-use cases provided by Airbus Group. At a first glance, a humanoid robotic solution appears extremely risky, since the operations to be conducted are in highly constrained aircraft cavities with non-uniform (cargo) structures. Furthermore, these tight spaces are to be shared with human workers. Recent developments, however, in multi-contact planning and control suggest that this is a much more plausible solution than current alternatives such as a manipulator mounted on multi-legged base. Indeed, if humanoid robots can efficiently exploit their surroundings in order to support themselves during motion and manipulation, they can ensure balance and stability, move in non-gaited (acyclic) ways through narrow passages, and also increase operational forces by creating closed-kinematic chains. Bipedal robots are well suited to narrow environments specifically because they are able to perform manipulation using only small support areas. Moreover, the stability benefits of multi-legged robots that have larger support areas are largely lost when the manipulator must be brought close, or even beyond, the support borders. COMANOID aims at assessing clearly how far the state-of-the-art stands from such novel technologies. In particular the project focuses on implementing a real-world humanoid robotics solution using the best of research and innovation. The main challenge will be to integrate current scientific and technological advances including multi-contact planning and control; advanced visual-haptic servoing; perception and localization; human-robot safety and the operational efficiency of cobotics solutions in airliner manufacturing.

 Deliverables

List of deliverables.
Safety falling procedures and strategies Documents, reports 2020-01-24 09:18:24
Preliminary version of methods and software related to visual perception for demonstration on the COBOT platform Documents, reports 2020-01-24 09:18:24
Report on walking report Documents, reports 2020-01-24 09:18:24
Final safety guidelines and strategies Documents, reports 2020-01-24 09:18:24
TRL presentation in front of Airbus Group reviewer panel Documents, reports 2020-01-24 09:18:24
Final demonstrator and technology recommendations Demonstrators, pilots, prototypes 2020-01-24 09:18:25
Integrated humanoid robot software and AIRBUS mission specification Documents, reports 2020-01-24 09:18:24
Methods and software on visual perception and contact sensing for demonstration on TORO and HRP-4 Documents, reports 2020-01-24 09:18:24
Preliminary safety guidelines and strategies Documents, reports 2020-01-24 09:18:24
Ethics report Documents, reports 2020-01-24 09:18:24
Setup of the communication infrastructure (web-server, mailing list, net-meeting, etc.) Websites, patent fillings, videos etc. 2020-01-24 09:18:24
Demonstrator specification report Documents, reports 2020-01-24 09:18:24
Minutes of the Milestone review consortium meetings Documents, reports 2020-01-24 09:18:24
Report on multi contact planning and control Documents, reports 2020-01-24 09:18:24
Gender action plan Documents, reports 2020-01-24 09:18:24

Take a look to the deliverables list in detail:  detailed list of COMANOID deliverables.

 Publications

year authors and title journal last update
List of publications.
2016 Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Maximo A. Roa, Vittorio Lippi, Thomas Mergner
Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots
published pages: 22-33, ISSN: 1070-9932, DOI: 10.1109/MRA.2015.2507098
IEEE Robotics & Automation Magazine 23/1 2020-01-24
2016 Bernd Henze, Alexander Dietrich, Christian Ott
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots
published pages: 700-707, ISSN: 2377-3766, DOI: 10.1109/LRA.2015.2512933
IEEE Robotics and Automation Letters 1/2 2020-01-24

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The information about "COMANOID" are provided by the European Opendata Portal: CORDIS opendata.

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