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Visually and force controlled opening and closing of doors by means of a mobile robot arm

: Milighetti, G.

Postprint urn:nbn:de:0011-n-2187790 (1.1 MByte PDF)
MD5 Fingerprint: 67a143d74cf12f3c3fa5ae2bbc51780e
Erstellt am: 14.11.2012

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
6 S.
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobile robot arm has been implemented based on this hierarchical two-level control concept. The perception of the robot environment, the detection of door, handle and keyhole is mainly achieved by vision and force sensor data. A hybrid strategy based on variable impedance control is used for the continuous controller in the lower hierarchy level.