Project Description

COMANOID stands for -Multi-Contact Collaborative Humanoids in Aircraft Manufacturing- is a RIA four-year European research project that started in January 2015 as part of the Horizon H2020 program.

COMANOID aims at deploying humanoid robots to achieve non-added value tasks that have been identified by Airbus Group in aircraft assembly operations. The project focuses on showing precise accessibility (namely into areas where wheeled robots cannot be deployed) through whole body multi-contact planning motion with advanced embedded 3D dense SLAM localization and visuo-force servoing capabilities. Because the robots evolve in human worker co-localized spaces, safety issues will be specifically accounted for. The results of COMANOID will be showcased in a 1:1 scale demonstrator of a real aircraft using two humanoid robots: the HRP-4 position controlled humanoid robot provided by CNRS partner and the TORO torque controlled humanoid robot provided by DLR partner.


  • To investigate the deployment of humanoid robots solutions in Airbus assembly operations that are laborious and inaccessible for wheeled platforms.
  • To achieve Human-robot safe and operationally efficient collaboration.
Title Authors Conference/Book Year bib pdf
Whole-Body Contact Force Sensing From Motion Capture Tu -H. Pham, A. Bufort, S. Caron, A. Kheddar IEEE/SICE International Symposium on System Integration (SII) 2016
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds (Submitted) S. Traversaro, S. Brossette, A. Escande, F. Nori IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016
Parametrization of Catmull-Clark Subdivision Surfaces for Posture generation A. Escande, S. Brossette, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2016
Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots H. Audren, A. Kheddar, P. Gergondet IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016 2016
Falls control using posture reshaping and active compliance V. Samy, A. Kheddar IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2015
Humanoid posture generation on non-Euclidean manifolds S. Brossette, A. Escande, G. Duchemin, B. Chrétien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2015