Abstract
Opening doors is a basic and significant task for robots in applications of home service, security guard and disaster rescue. Previous researches basically use a multi-DOF manipulator mounted to a tracked, wheeled or biped robot platform to manipulate, use 3D vision system to recognize and roughly locate the door handle, and apply force sensors to precisely locate the handle and open the door. This paper proposes a method to plan the door-opening trajectory for six-legged robots, based on only the tactile feedback. Specially, by making a good use of the six DOFs and the enough workspace of the body, the robot uses a 0-DOF tool to operate. By touching the door and the handle at different positions and different directions, the robot can detect the positional relationship with the door and accordingly plan the trajectory to open the door in real-time.
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Acknowledgments
This study is supported by the National Basic Research Program of China (973 Program) (No.2013CB035501).
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Chen, Z., Gao, F. (2017). Real-Time Trajectory Plan for Six-Legged Robots to Open Doors Based on Tactile Feedback. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_4
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DOI: https://doi.org/10.1007/978-981-10-2875-5_4
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