Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/37357

Title: Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control
Author: Jain, Advait ; Kemp, Charles C.
Abstract: Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a fixed position to robustly pull open a variety of doors and drawers, and infer their kinematics without detailed prior models. In this paper, we extend this framework to support autonomous motion of the robot's omni-directional base both before and during pulling. With our new methods, we show that the robot can autonomously approach and open doors and drawers for which only the location and orientation of the handle have been provided. We also demonstrate that EPC can coordinate the movement of the robot's omni-directional base and compliant arm while pulling open a door or drawer, which leads to significantly improved performance. Through 40 trials with 10 different doors and drawers, we empirically demonstrated the robustness of the system. The robot succeeded in 37 out of 40 trials, and had no more than a single failure for any particular door or drawer.
Description: ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/ROBOT.2010.5509445 Presented at the 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010 , Anchorage, AK .
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/37357
ISSN: 1050-4729
ISBN: 978-1-4244-5038-1
Citation: Jain, A.; Kemp, C.C., "Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control," 2010 IEEE International Conference on Robotics and Automation (ICRA), May 2010, 1807-1814.
Date: 2010-05
Contributor: Georgia Institute of Technology. Healthcare Robotics Lab
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Manipulator kinematics
Mobile robots
Position control

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