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 ...

Parallel robots provide the potential to be lever-aged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact ...