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JRM Vol.35 No.6 pp. 1573-1582
doi: 10.20965/jrm.2023.p1573
(2023)

Paper:

Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm

Yasuhiko Fukumoto ORCID Icon, Morio Jinnai, Shinnosuke Bando, Makoto Takenaka, and Hiroaki Kobayashi

Kagawa Prefectural Industrial Technology Research Center
587-1 Goto, Takamatsu, Kagawa 761-8031, Japan

Received:
February 27, 2023
Accepted:
August 1, 2023
Published:
December 20, 2023
Keywords:
mobile manipulator, door opening, door closing, admittance control
Abstract

This study achieved four door operations, namely push-opening, push-closing, pull-opening, and pull-closing movements, using a mobile manipulator consisting of a commercially available arm robot and a mobile robot. We assumed that the arm robot is controlled by position commands at intervals of a few milliseconds, and that the mobile robot is guided by a simple straightforward linear trajectory. Ott, Borst, Bäuml, and Hirzinger proposed a push-opening method using impedance control in a cylindrical coordinate system for the arm robot. With this control, when the mobile robot advances toward and through the door, the arm robot moves passively and properly pushes the door open. However, their method is unsuitable for the above type of robot. Thus, we propose a method with two modifications: the use of admittance control and the improvement of force relaxation by considering a force obtained through a novel force decomposition. Furthermore, the proposed method was demonstrated not only in the push-opening movement but also in the push-closing, pull-opening, and pull-closing movements.

Door opening by a mobile manipulator

Door opening by a mobile manipulator

Cite this article as:
Y. Fukumoto, M. Jinnai, S. Bando, M. Takenaka, and H. Kobayashi, “Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm,” J. Robot. Mechatron., Vol.35 No.6, pp. 1573-1582, 2023.
Data files:
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