Designing a behavior of a mobile robot equipped with a manipulator to open and pass through a door

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• 作者：Nagatani ; Keiji ; Yuta ; Shin'ichi
• 关键词：Mobile manipulator ; Distributed control system ; Cooperation behavior
• 刊名：Robotics and Autonomous Systems
• 出版年：1996
• 出版时间：April, 1996
• 年：1996
• 卷：17
• 期：1-2
• 页码：53-64
• 全文大小：902 K

文摘

One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, proposed task is to realize a total behavior with opening a door and passing through a doorway by a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior by a robot, and show a simulation of robot motion series for this task. The key issue for realizing such behavior is cooperation between robot's function sub-systems, such as the locomotion control system, the manipulator control system and the sensor systems.