An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties
Journal article, 2016

We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g., doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint, prismatic or revolute. The method consists of a velocity controller that relies on force/torque measurements and estimation of the motion direction, the distance, and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modeling. The method is evaluated in different scenarios involving opening a representative set of door and drawer mechanisms found in household environments.

uncertain

Adaptive control

calibration and identification

service robots

force/motion control

Author

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control, Mechatronics

C. Smith

Royal Institute of Technology (KTH)

F. E. V. Barrientos

Royal Institute of Technology (KTH)

P. Ogren

Royal Institute of Technology (KTH)

D. Kragic

Royal Institute of Technology (KTH)

IEEE Transactions on Robotics

1552-3098 (ISSN)

Vol. 32 1 161-175

Subject Categories

Robotics

DOI

10.1109/tro.2015.2506154

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Latest update

2/26/2018