A Door Opening Method by a Mobile Manipulator with Passive Joints.
نویسندگان
چکیده
منابع مشابه
High-level control of a mobile manipulator for door opening
In this paper, off-the-shelf algorithms f o r force/torque control are used in the context of mobile manipulation (i.e. coordinated mot ion of a mobile robot base and the a r m mounted o n top of it). In particular, the task of opening a door is studied. To make the solution robust, as f e w assumptions as possible are made. B y using relaxation of forces as the basic level of control, more com...
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The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...
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Fully autonomous robots will often need to open doors and traverse doorways in order to freely operate within human environments, and assistive robots that open doors on command would potentially benefit the motor impaired. In spite of these opportunities, autonomous manipulation of doors remains a challenging problem after more than a decade of research. Until recently, published research has ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2001
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.19.277