TY - GEN
T1 - Nut fastening with a humanoid robot
AU - Pfeiffer, Kai
AU - Escande, Adrien
AU - Kheddar, Abderrahmane
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - We study the HRP-2Kai humanoid robot's ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tasks demanding high precision in the execution and tuning. This includes the use of a robust visual servoing algorithm which allows the robot to move autonomously to a desired target and the design of specific tasks and estimators: a learning and admittance control that enables the robot to interact smoothly with its environment, and a fast and safe method to autonomously detect correct tool on nut insertion. We then show that the controller indeed enables our humanoid robot to achieve such a high precision task.
AB - We study the HRP-2Kai humanoid robot's ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tasks demanding high precision in the execution and tuning. This includes the use of a robust visual servoing algorithm which allows the robot to move autonomously to a desired target and the design of specific tasks and estimators: a learning and admittance control that enables the robot to interact smoothly with its environment, and a fast and safe method to autonomously detect correct tool on nut insertion. We then show that the controller indeed enables our humanoid robot to achieve such a high precision task.
UR - http://www.scopus.com/inward/record.url?scp=85041965599&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206515
DO - 10.1109/IROS.2017.8206515
M3 - Conference Proceeding
AN - SCOPUS:85041965599
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6142
EP - 6148
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -