SOFITEC – Co-Manipulation Of Large Parts By Dual-Arm Mobile Manipulator


SOFITEC is an international aerostructures manufacturer, specialised in the development of integrated solutions for composite, metallic and assembly projects.

Specifically, SHERLOCK introduces a mobile dual-arm robot coordinating with a human operator in carrying around the workplace the large composite parts. The collaborative robot moves along the workshop in tandem with the operator and actively cooperates with him to accurately position the different pieces on the destination locations. This collaboration is allowed thanks to multiple capabilities added on the robot, such as a physical using dual-arm impedance control as well as indirect interaction via human guidance perceived through vision and voice.

As the robot cannot just follow the operator, it has been enhanced by 3D vision tools to independently navigate inside the shop floor. Besides, the robot interactively learns a funnel of trajectories to perform its own manipulation and installation, in synchronisation with the operator. Due to the high number of parts and process variability, machine-learning is a key technology that a lot of SHERLOCK developments are based up to.

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