Stuede, Marvin; Nuelle, Kathrin; Tappe, Svenja; Ortmaier, Tobias
(Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers Inc., 2019)
This paper presents a holistic approach for door opening with a Cartesian impedance controlled mobile robot, a KUKA KMR iiwa. Based on a given map of the environment, the robot autonomously detects the door handle, opens ...