From the perspective of security in a living space, it is useful for a patrol robot to check and perform door closing, and this research focuses on the door closing task by a small robot. While small robot is easy to install in a living space, it has a problem that it cannot continue the task when closing a door that is large and heavy compared to its own body because of its small size. To solve this problem, the robot recognizes an open door by patrolling with an RGB-D camera and tries to hit the door without losing its posture. As a result, the door can be closed even if it is twice as heavy as it should be. The robot can also autonomously determine the path of door closing based on the presence or absence of the door closer, and performs a series of operations by removing the door stopper that serves as an obstacle with a manipulator. Finally, the system confirms whether the door is normally closed and takes appropriate action, and confirms and executes the door closing process by sequentially determining whether the door is open or closed.
