Cart (Loading....) | Create Account
Close category search window
 

Door-Opening Control of a Service Robot Using the Multifingered Robot Hand

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Woojin Chung ; Dept. of Mech. Eng., Korea Univ., Seoul, South Korea ; Changju Rhee ; Youngbo Shim ; Hyungjin Lee
more authors

Service robots are spreading their application areas to human coexisting real environments. However, it is still difficult to find an autonomous robot that is capable of manipulation services in a real environment. The three major difficulties of manipulation service can be summarized as follows: 1) unstructured human-centered environment; 2) limited resources in a robot; and 3) uncertainties in real environments. This paper deals with the autonomous manipulation task by a service robot in human coexisting environment. We focus on a door-opening problem. In this paper, we concentrate on three issues from the viewpoint of service-robot applications. The first issue is to estimate kinematic parameters by using an active-sensing strategy to overcome uncertainties in a real environment. The second issue is to provide an integrated strategy of motion coordination for door-opening control. This paper discusses the role assignment of each subsystem that depends on the physical characteristics. The third issue is to use the fingertip-contact forces to estimate the external force from a doorknob, instead of using an additional high-cost force sensor at the wrist. The proposed scheme is shown to be useful through experimental results.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 10 )

Date of Publication:

Oct. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.