Door-opening control of a service robot using the multifingered robot hand / Chung, Woojin in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3975 - 3984 Titre : Door-opening control of a service robot using the multifingered robot hand Type de document : texte imprimé Auteurs : Chung, Woojin, Auteur ; Rhee, Changju, Auteur ; Shim, Youngbo, Auteur Article en page(s) : pp. 3975 - 3984 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Door-opening control Mobile manipulator Multifingered robot hand Parameter estimation Service Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5109673 [article] Door-opening control of a service robot using the multifingered robot hand [texte imprimé] / Chung, Woojin, Auteur ; Rhee, Changju, Auteur ; Shim, Youngbo, Auteur . - pp. 3975 - 3984. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3975 - 3984 Mots-clés : Door-opening control Mobile manipulator Multifingered robot hand Parameter estimation Service Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5109673

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