自律移動するモバイルマニピュレータによるドアの押し開け通過動作の検証

抄録

In this paper, we tested a method of opening and passing through door for a mobile manipulator. Especially, we assumed the mobile manipulator constructed by commercially available robots; the arm robot is position controlled and the mobile robot automatically generates the path. We selected a method by Ott et al. as a promising method and implemented on a mobile manipulator. We revealed that the initial position affected to the force and moment acting on the tip of the arm robot and that it can provoke overload to fail the door opening and passing task.