Walking and stair climbing controller for locomotion in an aircraft factory

Abstract¶

The task was initially phrased for humans: go upstairs, walk into the aircraft, pick up the object and place it on the fuselage. Yet, repetition and the disposition of target locations turned out to cause chronic back pain, and the question of automation was raised: can a robot do that? In this talk, we will see how the HRP-4 humanoid can do that, and discuss the components we developed for the final demonstrator of the COMANOID project that ran at the Airbus Saint-Nazaire factory on 21 February 2019: self localization, locomotion, object localization and manipulation. We will focus on walking and stair climbing control. The audience is encouraged to bring plastic bottles.

Content¶

	Slides
	Stair climbing experiment

References¶

Stair climbing stabilization of the HRP-4 humanoid robot using whole-body admittance control