Autonomous opening of a door with a mobile manipulator: A case study

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 6, Issue PART 1, 2007, Pages 349-354

  Ott, Christian ^a   Bäuml, Berthold ^a   Borst, Christoph ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Door opening; Impedance control; Mobile manipulation

Indexed keywords

DRILLING PLATFORMS;

CARTESIAN IMPEDANCE CONTROL; DOOR OPENINGS; IMPEDANCE BEHAVIOR; IMPEDANCE CONTROL; MOBILE MANIPULATION; MOBILE MANIPULATOR; MOBILE MANIPULATOR SYSTEM; ROBUSTNESS PROPERTIES;

MANIPULATORS;

EID: 79960953576     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20070903-3-fr-2921.00060     Document Type: Conference Paper

References (13)

1. Albu-Schäffer, A., Ch. Ott and G. Hirzinger (2004a). Passivity based cartesian impedance control for flexible joint manipulators. In: IFAC Symposium on Nonlinear Control Systems (NOLCOS).
2. Albu-Schäffer, A., Ch. Ott and G. Hirzinger (2004b). A passivity based cartesian impedance controller for flexible joint robots - part II: Full state feedback, impedance design and experiments. In: IEEE Int. Conf. of Robotics and Automation. pp. 2666-2672.
3. Butterfaß, J., M. Grebenstein, H. Liu and G. Hirzinger (2001). Dlr-hand ii: Next generation of a dextrous robot hand. In: IEEE Int. Conf. of Robotics and Automation.
4. Caccavale, F., C. Natale, B. Siciliano and L. Villani (1999). Six-dof impedance control based on angle/axis representations. IEEE Transactions on Robotics and Automation 15(2), 289-299.
5. Hillenbrand, U., Ch. Ott, B. Brunner, Ch. Borst and G. Hirzinger (2004). Towards service robots for the human environment: the robutler. In: Mechatronics and Robotics (MECHROB). pp. 1497-1502.
6. Hirzinger, G., A. Albu-Schäffer, M. Hähnle, I. Schaefer and N. Sporer (2001). On a new generation of torque controlled light-weight robots. In: IEEE Int. Conf. of Robotics and Automation. pp. 3356-3363. (Pubitemid 32815382)
7. Nagatani, K. and S. Yuta (1996). Designing strategy and implementation of mobile manipulator control system for opening door. In: IEEE Int. Conf. of Robotics and Automation. pp. 2828-2834.
8. Niemeyer, G. and J.-J. E. Slotine (1997). A simple strategy for opening an unknown door. In: IEEE Int. Conf. of Robotics and Automation. pp. 1448-1453.
9. Ott, Ch., A. Albu-Schäffer, A. Kugi, S. Stramigioli and G. Hirzinger (2004). A passivity based cartesian impedance controller for flexible joint robots -part I: Torque feedback and gravity compensation. In: IEEE Int. Conf. of Robotics and Automation. pp. 2659-2665.
10. Petersson, L., D. Austin and D. Kragic (2000). High-level control of a mobile manipulator for door opening. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. pp. 2333-2338. (Pubitemid 32380057)
11. Rhee, C., W. Chung, M. Kim, Y. Shim and H. Lee (2004). Door opening control using the multi-fingered robotic hand for the indoor service robot. In: IEEE Int. Conf. of Robotics and Automation. pp. 4011-4016.
12. Spong, M.W. (1987). Modeling and control of elastic joint robots. IEEE Journal of Robotics and Automation 3, 291-300.
13. Zhang, S. and E. D. Fasse (2000). Spatial compliance modeling using a quaternion-based potential function method. Multibody System Dynamics 4, 75-101.