DOOR-OPENING BEHAVIOUR BY HOME SERVICE ROBOT IN A HOUSE

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.