Opening a door with a redundant impedance controlled robot
Tomasz Winiarski , Konrad Banachowicz
AbstractOpening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
|Publication size in sheets||0.5|
|Book||Kozłowski Krzysztof: Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, IEEE, ISBN 978-1-4673-5510-0, 293 p.|
|Score|| = 10.0, 08-07-2020, BookChapterMatConfByIndicator|
= 15.0, 08-07-2020, BookChapterMatConfByIndicator
|Publication indicators||= 13; = 18.0|
|Citation count*||18 (2020-08-21)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.