Real-Time Trajectory Plan for Six-Legged Robots to Open Doors Based on Tactile Feedback
Opening doors is a basic and significant task for robots in applications of home service,security guard and disaster rescue.Previous researches basically use a multi-DOF manipulator mounted to a tracked,wheeled or biped robot platform to manipulate,use 3D vision system to recognize and roughly locate the door handle,and apply force sensors to precisely locate the handle and open the door.This paper proposes a method to plan the door-opening trajectory for six-legged robots,based on only the tactile feedback.Specially,by making a good use of the six DOFs and the enough workspace of the body,the robot uses a 0-DOF tool to operate.By touching the door and the handle at different positions and different directions,the robot can detect the positional relationship with the door and accordingly plan the trajectory to open the door in real-time.
Door-opening Trajectory plan Tactile feedback Six-legged robots
Zhijun Chen Feng Gao
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
国际会议
广州
英文
35-44
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）