COMANOID – Multi-Contact Collaborative Humanoids in Aircraft Manufacturing
COMANOID investigates the deployment of robotic solutions in well-identified Airbus airliner assembly operations that are tedious for human workers and for which access is impossible for wheeled or rail-ported robotic platforms.
source/image: DLRRMC
This video presents a demonstration of autonomous placement of a part inside the aircraft fuselage. The task is performed by TORO, the torque-controlled humanoid robot developed at DLR.
All the motions are autonomously executed, and rely on the generation of a suitable step trajectory and on the robust multi-contact balance of the robot in order to be able to reach the desired placement location for the part.
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The detection of the part feeder, the grasping and placement of the part and the detection of the goal location and possible contact points are vision-based processes based on localization of landmarks, model-based pose estimation, and detection of familiar features on a depth map.
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