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DOOR-OPENING BEHAVIOUR BY HOME SERVICE ROBOT IN A HOUSE
- Authors
- Kim, Dong W.; Kang, Ju-Hyun; Park, Gwi-Tae
- Issue Date
- 2010
- Publisher
- ACTA PRESS
- Keywords
- Home service robot; mobile manipulator; door opening; human-robot interface
- Citation
- INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, v.25, no.4, pp.271 - 284
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
- Volume
- 25
- Number
- 4
- Start Page
- 271
- End Page
- 284
- ISSN
- 0826-8185
- Abstract
- In this paper, we consider the task of opening a closed door by a home service robot, equipped with a manipulator. The objective of this research is to successfully accomplish the door-opening task. The proposed robot is small and compact because a double-active universal joint (DAUJ) is adopted for the robotic joint mechanism of the manipulator; therefore, it is easy for the robot to move in a. house through doorways. Inexpensive force sensors were employed for the door-opening task instead of expensive JR3 sensors for cost, effectiveness in the robot. Practical experiments, including continuous robot motion pictures, demonstrated that, the door-opening task was completed successfully by the proposed home service robot.
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