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Designing a behavior to open a door and to pass through a door-way using a mobile robot equipped with a manipulator

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2 Author(s)
Keiji Nagatani, ; Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan ; Yuta, S.

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

Published in:
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:2 )

Date of Conference: 12-16 Sep 1994

Page(s):
847 - 853 vol.2
Meeting Date :
12 Sep 1994-16 Sep 1994
Print ISBN:
0-7803-1933-8
INSPEC Accession Number:
4998602
Conference Location :
Munich
Digital Object Identifier :
10.1109/IROS.1994.407493
Product Type:
Conference Publications

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