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Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists

Hongjun Xing (Harbin Institute of Technology, Heilongjiang, China)
Kerui Xia (Harbin Institute of Technology, Heilongjiang, China)
Liang Ding (Harbin Institute of Technology, Heilongjiang, China)
Haibo Gao (Harbin Institute of Technology, Heilongjiang, China)
Guangjun Liu (Ryerson University, Toronto, Canada)
Zongquan Deng (Harbin Institute of Technology, Heilongjiang, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 5 June 2019

Issue publication date: 14 August 2019

Abstract

Purpose

The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints.

Design/methodology/approach

A method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method.

Findings

The relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach.

Originality/value

This is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists.

Keywords

Acknowledgements

Foundation for Innovative Research Groups of the National Natural Science Foundation of China x Grant No. 51521003, Harbin Applied Technology Project of Research and Development x No. 2015RQQXJ081, National Natural Science Foundation of China Grant No. 61370033 the National Key Basic Research Development Plan Project (973) x 2013CB035502, “111” Project x B07018.

Citation

Xing, H., Xia, K., Ding, L., Gao, H., Liu, G. and Deng, Z. (2019), "Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists", Assembly Automation, Vol. 39 No. 3, pp. 479-488. https://doi.org/10.1108/AA-08-2018-109

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited