We report on the results of a collaborative project that investigated the deployment of humanoid robotic solutions in air-craft manufacturing for several assembly op erations where access by wheeled or railported robotic platforms is not possible. Recent de velopments in multicontact planning and control, bipedal walking, embedded simultaneous localization and mapping (SLAM), whole-body multisensory task-space optimization control, and contact detection and safety suggest that humanoids could be a plausible solution for automation, given the specific requirements in large-scale manufacturing sites. The main challenge is the integration of these scientific and technological advances into two existing humanoid platforms: the position-controlled Human Robotics Project (HRP-4) and the torque-controlled robot (TORO). This integration effort was demonstrated during a bracketassembly operation inside a 1:1-scale A350 mockup of the front part of the fuselage at the Airbus Saint-Nazaire site. We present and discuss the main results achieved in this project and provide recommendations for future work.

中文翻译：

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飞机制造中的人形机器人：空中客车用例

我们报告了一个合作项目的结果，该项目调查了飞机制造中人形机器人解决方案在多个装配操作中的部署情况，这些装配操作无法通过轮式或轨道式机器人平台进行访问。在多触点规划和控制，双足步行，嵌入式同时定位和制图（SLAM），全身多传感器任务空间优化控制以及接触检测和安全性方面的最新发展表明，根据具体情况，类人动物可以成为自动化的可行解决方案大型制造场所的要求。主要挑战是将这些科技进步整合到两个现有的类人机器人平台中：位置控制的人类机器人项目（HRP-4）和扭矩控制的机器人（TORO）。在空客圣纳泽尔工厂的机身前部以1：1比例的A350样机内部进行支架组装操作时，证明了这种整合效果。我们介绍并讨论该项目中取得的主要成果，并为以后的工作提供建议。