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door-opening

Robotica (1)

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Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation
Liang Ding, Kerui Xia, Haibo Gao, Guangjun Liu, Zongquan Deng
Journal:

Robotica / Volume 36 / Issue 1 / January 2018

Published online by Cambridge University Press:

03 May 2017, pp. 119-140
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This study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.