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Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation

Published online by Cambridge University Press:  03 May 2017

Liang Ding ,
Kerui Xia ,
Haibo Gao ,
Guangjun Liu  and
Zongquan Deng
Liang Ding
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails: liangding@hit.edu.cn, gaohaibo@hit.edu.cn, dengzq@hit.edu.cn
Kerui Xia*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails: liangding@hit.edu.cn, gaohaibo@hit.edu.cn, dengzq@hit.edu.cn
Haibo Gao
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails: liangding@hit.edu.cn, gaohaibo@hit.edu.cn, dengzq@hit.edu.cn
Guangjun Liu
Affiliation:
Department of Aerospace Engineering, Ryerson University, Toronto, Ontario, M5B 2K3, Canada. E-mail: gjliu@ryerson.ca
Zongquan Deng
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails: liangding@hit.edu.cn, gaohaibo@hit.edu.cn, dengzq@hit.edu.cn
*
*Corresponding author. E-mail: keruixia@gmail.com
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Summary

This study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.

Keywords

Rescue taskDoor-openingMobile manipulatorUnknown-force-related constraints estimationRobust adaptive control
Type
Articles
Information
Robotica , Volume 36 , Issue 1 , January 2018 , pp. 119 - 140
Copyright
Copyright © Cambridge University Press 2017 

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