An Adaptive Control Approach for Opening Doors and Drawers under Uncertainties

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Yiannis Karayiannidis, Christian Smith, Francisco E. Viña B., Petter Ögren and Danica Kragic

IEEE Transactions on Robotics (TRO'15).

Abstract

We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g. doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint --- prismatic or revolute. The method consists of a velocity controller which relies on force/torque measurements and estimation of the motion direction, the distance and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired tangential velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modelling. The method is evaluated in different scenarios opening a representative set of door and drawer mechanisms found in household environments.