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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.

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

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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