@InProceedings{bolotnikova:case:2017,
  author    = {Bolotnikova, Anastasia and Chappellet, Kevin and Paolillo, Antonio and Escande, Adrien and Anbarjafari, Gholamreza and Suarez-Roos, Adolgo and Rabate, Patrice and Kheddar, Abderrahmane},
  title     = {A Circuit-Breaker Use-Case Operated by a Humanoid in Aircraft Manufacturing},
  booktitle = {IEEE International Conference on Automation Science and Engineering},
  year      = {2017},
  address   = {Xi\textquotesingle an, China},
  month     = {August 20-August 23},
  url       = {https://hal.archives-ouvertes.fr/hal-01565060/document},
  abstract  = {Automation of large-scale aircraft manufacturing with wheeled or embedded platforms requires costly changes of the manufacturing process and the environment. Humanoid robots could address this issue. We present a use-case of HRP-4 humanoid operating circuit-breakers. We show the feasibility of using visual feedback and force control in an integrated and unified multi-contact and multimodal task space quadratic programming (QP) whole-body control framework to enable HRP-4 to perform the task. We discuss the experimental results and outline the limitations of the current platform design and control implementation.}
}