Adaptive Force/Velocity control for opening unknown doors1

Model-free robot manipulation of doors and drawers by means of fixed-grasps

“…Then, force/torque feedback terms v f , ω τ should only consist of the integral of the force error (projected on the constrained direction) and the torque, so that differentiation of noisy force/torque measurements is avoided. A dynamic controller can be developed from the velocity controller following the steps described in our previous work [15].…”

“…To further demonstrate the viability of the approach, we implemented the controller on a real velocity controlled robot platform (see [15], [16] for technical details of the robot), and let it open a cupboard door. See Figure 5 for an illustration of the setup.…”

“…In previous work, we have proposed a control algorithm that produces estimates of the center of rotation for a revolute door, exploits the estimates in the proposed velocity reference and which is proved to identify the constraint direction as well as achieve velocity/force tracking for smooth door opening [15], [16]. The control scheme assumes a revolute model for the door, but the center of rotation is considered uncertain.…”

Online kinematics estimation for active human-robot manipulation of jointly held objects

“…A dynamic controller based on the proposed reference velocities (5), (6) can be designed and applied at the joint torque level following the steps of our previous work [16]. However, if we assume a high frequency current control loop with compensation of the external forces and weak inertial dynamics, the theoretical analysis of this work is valid.…”

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

“…Winiarski, et al [29] applied a direct impedance controller and a local stiffness controller to a 7-DOF manipulator to robustly open doors. Karayiannidis, et al [30] proposed a dynamic force/velocity controller which adaptively estimated the door hinge's position in real time, thus properly regulating the forces and velocities in radial and tangential directions during opening doors. Guo, et al [31] simulated a hybrid position/force controller for a manipulator mounted to a wheeled platform to open doors.…”