Door-Opening Control of a Service Robot Using the Multifingered Robot Hand
DC Field | Value | Language |
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dc.contributor.author | Chung, Woojin | - |
dc.contributor.author | Rhee, Changju | - |
dc.contributor.author | Shim, Youngbo | - |
dc.contributor.author | Lee, Hyungjin | - |
dc.contributor.author | Park, Shinsuk | - |
dc.date.accessioned | 2021-09-08T13:03:07Z | - |
dc.date.available | 2021-09-08T13:03:07Z | - |
dc.date.created | 2021-06-11 | - |
dc.date.issued | 2009-10 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/119214 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | MOBILE MANIPULATOR | - |
dc.subject | SYSTEM | - |
dc.title | Door-Opening Control of a Service Robot Using the Multifingered Robot Hand | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Woojin | - |
dc.contributor.affiliatedAuthor | Park, Shinsuk | - |
dc.identifier.doi | 10.1109/TIE.2009.2025296 | - |
dc.identifier.scopusid | 2-s2.0-70349631153 | - |
dc.identifier.wosid | 000269838700023 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.10, pp.3975 - 3984 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.title | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.volume | 56 | - |
dc.citation.number | 10 | - |
dc.citation.startPage | 3975 | - |
dc.citation.endPage | 3984 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.subject.keywordPlus | MOBILE MANIPULATOR | - |
dc.subject.keywordPlus | SYSTEM | - |
dc.subject.keywordAuthor | Door-opening control | - |
dc.subject.keywordAuthor | mobile manipulator | - |
dc.subject.keywordAuthor | multifingered robot hand | - |
dc.subject.keywordAuthor | parameter estimation | - |
dc.subject.keywordAuthor | service robot | - |
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