Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 56, Issue 10, Pages 3975-3984Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2009.2025296
Keywords
Door-opening control; mobile manipulator; multifingered robot hand; parameter estimation; service robot
Categories
Funding
- Ministry of Education, Science and Technology under the Korea Science and Engineering Foundation [R01-2008-00011995-0]
- Ministry of Knowledge Economy [IITA-2008-(C1090-0803-0006]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10028969] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- Ministry of Knowledge Economy (MKE), Republic of Korea [로봇인력-06] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- Ministry of Public Safety & Security (MPSS), Republic of Korea [C1090-0902-0007] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [과C6A1802] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Service robots are spreading their application areas to human coexisting real environments. However, it is still difficult to find an autonomous robot that is capable of manipulation services in a real environment. The three major difficulties of manipulation service can be summarized as follows: 1) unstructured human-centered environment; 2) limited resources in a robot; and 3) uncertainties in real environments. This paper deals with the autonomous manipulation task by a service robot in human coexisting environment. We focus on a door-opening problem. In this paper, we concentrate on three issues from the viewpoint of service-robot applications. The first issue is to estimate kinematic parameters by using an active-sensing strategy to overcome uncertainties in a real environment. The second issue is to provide an integrated strategy of motion coordination for door-opening control. This paper discusses the role assignment of each subsystem that depends on the physical characteristics. The third issue is to use the fingertip-contact forces to estimate the external force from a doorknob, instead of using an additional high-cost force sensor at the wrist. The proposed scheme is shown to be useful through experimental results.
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