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Multi-sensory Feedback Control in Door Approaching and Opening

  • Conference paper
Book cover Intelligent Systems'2014

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 323))

Abstract

In the article the robotic system behavior is investigated for the complex door opening task. The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an impedance way and the BarrettHand gripper, which is controlled in a position way. The system utilizes multi-sensory feedback. The visual feedback is used to roughly localize door and to plan a door approach trajectory. The tactile feedback detects the contact with the door, and handle and determines an exact contact position with the handle. The system does not form a grip in a door opening stage, but the contact between the robot and the door is maintained by the gripper’s fingers (with intrinsic backlash), which are pushing the handle from its one side. This concept allows to open the door when there are obstacles in the neighborhood of the handle (e.g. door jamb or frame), which make the grip impossible.

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Authors and Affiliations

  1. Warsaw University of Technology, Warsaw, Poland

    Tomasz Winiarski, Konrad Banachowicz & Dawid Seredyński

Authors
  1. Tomasz Winiarski
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  2. Konrad Banachowicz
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  3. Dawid Seredyński
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Corresponding author

Correspondence to Tomasz Winiarski .

Editor information

Editors and Affiliations

  1. Ford Motor Company, Research & Advanced Engineering, Dearborn, Mississippi, USA

    D. Filev

  2. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    J. Jabłkowski

  3. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    J. Kacprzyk

  4. Polish Academy of Sciences and WIT - Warsaw School of Information Technology, Systems Research Institute, Warsaw, Poland

    M. Krawczak

  5. Bulgarian Academy of Sciences, Institute of Information and Communication, Sofia, Bulgaria

    I. Popchev

  6. Department of Computer Engineering, Częstochowa University of Technology, Częstochowa, Poland

    L. Rutkowski

  7. Bulgarian Academy of Sciences, Institute of Information and Communication Technologies, Sofia, Bulgaria

    V. Sgurev

  8. Department of Computer and Information Technologies, “Prof. Assen Zlatarov" University Faculty of Technical Sciences, Bourgas, Bulgaria

    E. Sotirova

  9. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    P. Szynkarczyk

  10. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    S. Zadrozny

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Winiarski, T., Banachowicz, K., Seredyński, D. (2015). Multi-sensory Feedback Control in Door Approaching and Opening. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_6

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  • DOI: https://doi.org/10.1007/978-3-319-11310-4_6

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11309-8

  • Online ISBN: 978-3-319-11310-4

  • eBook Packages: EngineeringEngineering (R0)

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