An experiment on opening-door-behavior by an autonomous mobile robot with a manipulator

Abstract

An aim of this research is to realize a behavior of opening a door and passing through a door-way using an autonomous mobile robot equipped with a manipulator. This behavior is realized by integrating several sub-tasks, such as, finding a door knob, pushing the door to open by cooperation between a manipulator and a locomotion. First, we pay attention to one important sub-task, pushing the door. To realize the sub-task, a mobile robot needs to cooperate with an equipped manipulator. In this paper, we propose how to implement the sub-task on the robot, and show experimental results of it.