Designing a behavior to open a door and to pass through a door-way using a mobile robot equipped with a manipulator

Author

Nagatani, Keiji ; Yuta, Shin´ichi

Author_Institution

Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

847

Abstract

One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, the proposed task is to realize a total behavior of opening a door and passing through a doorway for a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior, and a simulation of the behavior is shown. The key of such behavior is the cooperation between robot´s function sub-systems, e.g. the locomotion control system, the manipulator control system and the sensor systems

Keywords

compliance control; control system synthesis; intelligent control; manipulators; mobile robots; motion control; robot vision; door opening; doorway passing; locomotion control system; manipulator; mobile robot; sensor systems; vision sensor; Algorithm design and analysis; Control systems; Information science; Intelligent robots; Laboratories; Manipulator dynamics; Mobile robots; Robot sensing systems; Sensor systems; Surface treatment;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407493

Filename

407493