Robot Door Opening

Authors: Erik Fahlén & Josef Sunesson

Abstract

In this thesis, the problem of a robot opening a door is simulated in a virtual environment. The environment used is OpenRAVE, with parts of the physics simulations written in Python. In order to solve the problem, a dynamic force/velocity controller is used to open doors that have trajectories that are unknown to the robot beforehand. The performance of this controller is tested with different control gains and starting guesses, though the results did not give a full understanding of how well it actually worked. For a complete understanding, more testing would be required.