Door-Opening control of a service robot using the multifingered robot hand

IEEE Transactions on Industrial Electronics

Volumn 56, Issue 10, 2009, Pages 3975-3984

  Chung, Woojin ^a   Rhee, Changju ^b   Shim, Youngbo ^c   Lee, Hyungjin ^b   Park, Shinsuk ^a  

^a Korea University   (South Korea)

^b LG Electronics Inc   (South Korea)

^c SAMSUNG Electronics   (South Korea)

Author keywords

Door opening control; Mobile manipulator; Multifingered robot hand; Parameter estimation; Service robot

Indexed keywords

APPLICATION AREA; AUTONOMOUS MANIPULATION; AUTONOMOUS ROBOT; CONTACT FORCES; EXTERNAL FORCE; FORCE SENSOR; INTEGRATED STRATEGY; KINEMATIC PARAMETERS; MOBILE MANIPULATOR; MOTION COORDINATION; MULTIFINGERED ROBOT HAND; PHYSICAL CHARACTERISTICS; REAL ENVIRONMENTS; ROLE ASSIGNMENT; SERVICE ROBOT; SERVICE ROBOTS;

DOORS; END EFFECTORS; MANIPULATORS; MOBILE ROBOTS; ROBOT APPLICATIONS; ROBOTIC ARMS; UNCERTAINTY ANALYSIS;

PARAMETER ESTIMATION;

EID: 70349631153     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2009.2025296     Document Type: Article

References (33)

1. R. C. Luo and K. L. Su, "Multilevel multisensor-based intelligent recharging system for mobile robot," IEEE Trans. Ind. Electron., vol. 55, no. 1, pp. 270-279, Jan. 2008.
2. F. J. Berenguer and F. M. Monasterio-Huelin, "Zappa, a quasi-passive biped walking robot with a tail: Modeling, behavior, and kinematic estimation using accelerometers," IEEE Trans. Ind. Electron., vol. 55, no. 9, pp. 3281-3289, Sep. 2008.
3. W. L. Xu, J.-S. Pap, and J. Bronlund, "Design of a biologically inspired parallel robot for foods chewing," IEEE Trans. Ind. Electron., vol. 55, no. 2, pp. 832-841, Feb. 2008.
4. Y. Yamamoto and X. Yun, "Unified analysis an mobility and manipulability of mobile manipulators," in Proc. IEEE/RSJ Int. Conf. Robot. Autom., Detroit, MI, May 10-15, 1999, pp. 1200-1206.
5. H. Todoroki, K. Yokoi, K. Komoriya, and R. Murata, "Development of an indoor mobile platform and its posture control," presented at the ROBOMECH Conf., Japan, 2000, 2P2-41-052.
6. Q. Huang, K. Tanie, and S. Sugano, "Coordinated motion planning for a mobile manipulator considering stability and manipulation," Int. J. Robot. Res., vol. 19, no. 8, pp. 732-742, Aug. 2000.
7. F. Inoue and T. Murakami, "A motion control of mobile manipulator with external force," IEEE/ASME Trans. Mechatronics, vol. 6, no. 2, pp. 137-142, Jun. 2001.
8. R. Jamisola, M. Ang, D. Oetomo, O. Khatib, T. Lim, and S. Lim, "The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 11-15, 2002, pp. 400-405.
9. K. Suita, H. Ikeda, N. Tsuchida, and N. Sugimoto, "A failure-to-safety 'Kyozon' system with simple contact detection and stop capability for safe human-autonomous robot coexistence," in Proc. IEEE Int. Conf. Robot. Autom., Nagoya, Japan, May 21-27, 1995, pp. 3089-3096.
10. K. Inoue, T. Miyamoto, and Y. Okawa, "Impedance control of mobile manipulator with the stability to external force," in Proc. IEEE Int. Conf. Intell. Robot. Autom., Osaka, Japan, Nov. 4-8, 1996, pp. 721-728.
11. W. Chung, G. Kim, andM. Kim, "Development of the multi-functional indoor service robot PSR systems," Auton. Robots, vol. 22, no. 1, pp. 1-17, Jan. 2007.
12. G. Liu, X. He, J. Yuan, S. Abdul, and A. A. Goldenberg, "Development of modular and reconfigurable robot with multiple working modes," in Proc. IEEE/RSJ Int. Conf. Robot. Autom., Pasadena, CA, May 19-23, 2008, pp. 3502-3507.
13. D. Kim, J. Kang, C. Hwang, and K. Park, "Mobile robot for door opening in a house," in Knowledge-Based Intelligent Information and Engineering Systems, vol. 3215, LNAI. New York: Springer-Verlag, Oct. 2004, pp. 596-602.
14. S. Kobayashi, Y. Kobayashi, Y. Yamamoto, T. Watanabe, Y. Ohtsubo, T. Inoue, M. Yasuda, and Y. Takamori, "Development of a door opening system on rescue robot for search 'UMRS-2007'," in Proc. SICE Annu. Conf., Tokyo, Japan, Aug. 20-22, 2008, pp. 2062-2065.
15. E. Klingbeil, A. Saxena, and A. Ng, "Learning to open new doors," presented at the Proc. AAAI 17th Annu. Robot Workshop Exhib., Chicago, IL, Jul. 13-17, 2008.
16. K. Nagatani and S. Yuta, "Designing a behavior to open a door and to pass through a door-way using a mobile robot equipped with a manipulator," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Munich, Germany, Sep. 12-16, 1994, pp. 847-853.
17. K. Nagatani and S. Yuta, "An experiment on opening-door-behavior by an autonomous mobile robot with a manipulator," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Pittsburgh, PA, Aug. 5-9, 1995, pp. 45-50.
18. K. Nagatani and S. Yuta, "Designing strategy and implementation of mobile manipulator control system for opening door," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, Apr. 22-28, 1996, pp. 2828-2834.
19. G. Niemeyer and J. J. E. Slotine, "A simple strategy for opening an unknown door," in Proc. IEEE Int. Conf. Robot. Autom., Albuquerque, NM, Apr. 20-25, 1997, pp. 1448-1453.
20. U. Hanebeck, C. Fischer, and G. Schmidt, "Roman: A mobile robotic assistant for indoor service applications," in Proc. IEEE Int. Conf. Intell. Robots Syst., Grenoble, France, Sep. 7-11, 1997, pp. 518-525.
21. L. Petersson, D. Austine, and D. Kragic, "High-level control of a mobile manipulator for door opening," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Takamatsu, Japan, Oct. 31-Nov. 5, 2000, pp. 2333-2338.
22. L. Petersson, D. Austine, D. Kragic, and H. I. Christensen, "Towards an intelligent service robot system," in Proc. Int. Conf. Intell. Auton. Syst., Venice, Italy, Jul. 25-27, 2000, pp. 704-709.
23. O. Khatib, "Mobile manipulation: The robotic assistant," J. Robot. Auton. Syst., vol. 26, no. 2/3, pp. 175-183, Feb. 1999.
24. O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal, "Robots in human environment: Basic autonomous capabilities," Int. J. Robot. Res., vol. 18, no. 7, pp. 684-696, Jul. 1999.
25. [Online]. Available: http://www.ai.mit.edu/projects/cardea/index.shtml
26. C. Rhee, Y. Shim, W. Chung, and M. Kim, "Door opening control using the multi-fingered robotic hand for the indoor service robot," in Proc. IEEE/RSJ Int. Conf. Robot. Autom., New Orleans, LA, Apr. 26-May 1, 2004, pp. 4011-4016.
27. W. Chung, M. Kim, B. Kang, C. Lee, and H. Lee, "Robot hand and robot hand finger," U.S. Patent 6 918 622, Jul. 19, 2005.
28. W. Chung, M. Kim, B. Kang, C. Lee, and H. Lee, "Robot hand and robot hand finger," Japan Patent 3 721 354, Aug. 16, 2005.
29. W. Chung, M. Kim, B. Kang, C. Lee, and H. Lee, "Multi-fingered robot hand," Korea Patent 10-2001-0069841, Sep. 2004.
30. D. Lee and W. Chung, "Discrete status based localization for indoor service robots," IEEE Trans. Ind. Electron., vol. 53, no. 5, pp. 1737-1746, Oct. 2006.
31. G. Kim and W. Chung, "Tripodal schematic control architecture for integration of multi-functional indoor service robots," IEEE Trans. Ind. Electron., vol. 53, no. 5, pp. 1723-1736, Oct. 2006.
32. A. J. Schmid, N. Gorges, D. Göger, and H. Wörn, "Opening a door with a humanoid robot using multi-sensory tactile feedback," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, May 19-23, 2008, pp. 285-291.
33. M. W. Spong and M. Vydyasagar, Robot Dynamics and Control. Hoboken, NJ: Wiley, 1989, pp. 255-256.