Door-Opening Control of a Service Robot Using the Multifingered Robot Hand
- Authors
- Chung, Woojin; Rhee, Changju; Shim, Youngbo; Lee, Hyungjin; Park, Shinsuk
- Issue Date
- 10월-2009
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Door-opening control; mobile manipulator; multifingered robot hand; parameter estimation; service robot
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.10, pp.3975 - 3984
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- Volume
- 56
- Number
- 10
- Start Page
- 3975
- End Page
- 3984
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/119214
- DOI
- 10.1109/TIE.2009.2025296
- ISSN
- 0278-0046
- Abstract
- 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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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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