Whole-body motion of a humanoid robot for passing through a door - opening a door by impulsive force -

Abstract

There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

“…Minitaur's workspace of .14m is less than the stair rise, failing (5) 8 Values calculated with an empirically determined µ = .5 as outlined in (7) and (9). Thus, Minitaur is quasi-statically mismatched.…”

“…In an effort to better move around within these humanscale environments, some tasks of specific interest in robotics today are those of door opening [8] [9] and stair climbing [10] [11]. Door opening has often been approached by using quasi-static methods with high degree of freedom manipulators, on platforms sized such that they are quasistatically matched to the environment, and the manipulated mechanism lies within the robot's kinematic workspace [12] [13] [14].…”

Adaptive Force/Velocity control for opening unknown doors1

“…Kim and Kang (2010) have designed a small, compact and inexpensive mobile manipulator HomBot; experiments using a force/torque sensor in order to define the desired trajectory have shown the robot's efficiency in a door opening task. Arisumi et al (2009) propose door opening with an impulsive force exerted by the robot to a swinging door. A specific dynamic model for the door dynamics is considered in order to calculate the initial angular velocity which is required for a specific change of the door angle.…”

“Open sesame!” adaptive force/velocity control for opening unknown doors

“…In [22], the authors present experiments using a force/torque sensor on a custom lightweight robot to define the desired trajectory for a door opening task. In [23], a method for door opening is proposed that uses an impulsive force exerted by the robot to the door which is assumed to be a swinging door. A specific dynamic model for the door dynamics is used to calculate the initial angular velocity which is required for a specific change of the door angle, and implemented on the humanoid robot HRP-2.…”