ロボットによるドア開け動作におけるドアノブ把持の際の手首に生じる反力に関する考察

抄録

The variation of doors causes errors in observation of doors and door knobs and make the door opening task by the robot difficult. This paper presents considerations on the relationship between errors of grasping position and reaction force occurring at the wrist of the manipulator. First, to collect sample data of force sensor, we implemented a sequential trajectory of opening hinged door with lever door knob by the mobile manipulator. We collected the force sensor information of wrist for various grasping situation and evaluated their correlation by canonical correlation analysis. A significant correlation between the grasping position error and the moment of yaw direction was observed in the simulation. The result suggested that the force sensor information can be utilized to deal with error of measurement of object position.