@InProceedings{pfeiffer:iros:2017,
  author    = {Pfeiffer, Kai and Escande, Adrien and Kheddar, Abderrahmane},
  title     = {Nut Fastening with a Humanoid Robot},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2017},
  address   = {Vancouver (BC),Canda},
  month     = {September 24-September 28},
  url       = {https://hal.archives-ouvertes.fr/hal-02189053/document},
  keywords  = {Fasteners, Joining processes, Tools, Robot sensing systems, Aircraft},
  doi       = {10.1109/IROS.2017.8206515},
  abstract  = {We study the HRP-2Kai humanoid robot’s ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tasks demanding high precision in the execution and tuning. This includes the use of a robust visual servoing algorithm which allows the robot to move autonomously to a desired target and the design of specific tasks and estimators: a learning and admittance control that enables the robot to interact smoothly with its environment, and a fast and safe method to autonomously detect correct tool on nut insertion. We then show that the controller indeed enables our humanoid robot to achieve such a high precision task.}
}