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Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists

Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task... The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints.Design/methodology/approachA method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method.FindingsThe relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach.Originality/valueThis is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists

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References (23)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0144-5154
DOI
10.1108/aa-08-2018-109
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints.Design/methodology/approachA method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method.FindingsThe relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach.Originality/valueThis is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists.

Journal

Assembly AutomationEmerald Publishing

Published: Aug 14, 2019

Keywords: Trajectory planning; Door-opening task; Geometrical parameters estimation; Mobile manipulator

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