ROB4FAM
Robots For the Future of Aircraft Manufacturing
Project Details
- Type : Industrial Project
- What We Did : Motion Planning/Whole body control/Walking/Coordination
- Tools Used : Stack-of-Tasks, jrl-walkgen, HPP
- To be completed on : 2022
- Skills : Model Predictive Control / Walking
- Partners : Airbus / Florent Lamiraux
ROB4FAM - Robotics For the Future of Aircraft Manufacturing
The goal of this project is to develop and port on industrial robots reactive technologies developed in the frame of our research projects.
The humanoid robot is our scientific flagship which impose to think out-the-box and develop new technologies.
WP-1 Real time/Interactive motion planning
Description
The goal of this workpackage is to provide a path planning scientific approach in order to create a hierarchical finite state machine based on the task to perform, the robot model and the object to be manipulated. The core scientific contribution is described in the IEEE Transactions on Robotics paper from Florent Lamiraux (WP1-TRO1). It consists in the capabilities to associate task functions following a graph of constraints, to start from a configuration of the robot and the objects to reach a final state. It was applied to the humanoid robot TALOS (WP1-SII) and the mobile robot Tiago (WP1-CASE)
Publications
- (WP1-TRO) Prehensile Manipulation Planning: Modeling, Algorithms and Implementation, F Lamiraux, J Mirabel, IEEE Transactions on Robotics, Vol 38, Issue 4, 2022
- (WP1-CASE) Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control, J. Mirabel, F. Lamiraux, T.L. Ha, A. Nicolin, O. Stasse, S. Boria, IEEE CASE, 2021
- (WP1-SII) Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers, A. Nicolin, J. Mirabel, S. Boria, O. Stasse, F. Lamiraux, SII, 2022
WP-2 Instantaneous whole body control (including the task to perform)
Description
This workpackage plan was to implement a task space inverse dynamics for a complex or humanoid robot. In this framework, using Dynamic Differentiable Programming for one actuator over a trajectory was tested (see WP2-ECC). As there is a large litterature showing that it is easier to perform walking with position controler vs torque control we perform some comparisons between both in simulation (see WP2-ICAR), and on the real robot (see WP2-Frontiers). This led us to develop a passivity based scheme for Task Space Inverse Dynamics.
Publications
- Passive Inverse Dynamics Control using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact, N. Ramuzat, S. Boria, O. Stasse, IEEE Robotics and Automation Letters, IEEE 2022, 7 (2), pp.2787 - 2794
- Benchmarking Whole Body controllers on the TALOS Humanoid Robot, N. Ramuzat, O. Stasse, S. Boria, Frontiers in Robotics and AI, Frontiers Media S.A., 2022, 9, pp.826491.
- Comparison of Position and Torque Whole Body Control Schemes on the Humanoid Robot TALOS, N. Ramuzat, G. Buondonno, S. Boria, O. Stasse, 20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia.
- Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid Robot, N. Ramuzat, F. Forget, V. Bonnet, S. Boria, O. Stasse, V. Bonnet, M. Gautier, European Control Conference (ECC20), May 2020, Saint Petersburg, Russia
WP-3 Estimation-SLAM
Description
This workpackage aims at providing a localization system for robots such that they can localize accurately and start performing motion planning. In the frame of a the H2020 Memmo project, we have deployed the system developed by the Dynamic Robot Systems Group, Oxford Robotics Institute. It prodives a system precise up to 2 cm.
Publications
- ICP Localization and Walking Experiments on a TALOS Humanoid Robot, T. Lasguignes, I. Maroger, M. Fallon, M. Ramezani, L. Marchionni, O. Stasse, N. Mansard, B. Watier, ICAR 2021
WP-4 Balance
Description
This workpackage aims at generating balanced trajectories for walking and perform loco manipulations.