Door opening and traversal with an industrial cartesian impedance controlled mobile robot

Download statistics - Document (COUNTER):

Stuede, Marvin; Nuelle, Kathrin; Tappe, Svenja; Ortmaier, Tobias: Door opening and traversal with an industrial cartesian impedance controlled mobile robot. In: 2019 International Conference on Robotics and Automation (ICRA). Piscataway, NJ : IEEE, 2019, S. 966-972. DOI: https://dx.doi.org/10.1109/ICRA.2019.8793866

Repository version

To cite the version in the repository, please use this identifier: https://doi.org/10.15488/10361

Selected time period:

year: 
month: 

Sum total of downloads: 67




Thumbnail
Abstract: 
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 doors and traverses doorways without knowledge of a door model or the door's geometry. The door handle detection uses a convolutional neural network (CNN)-based architecture to obtain the handle's bounding box in a RGB image that works robustly for various handle shapes and colors. We achieve a detection rate of 100% for an evaluation set of 38 different door handles, by always selecting for highest confidence score. Registered depth data segmentation defines the door plane to construct a handle coordinate frame. We introduce a control structure based on the task frame formalism that uses the handle frame for reference in an outer loop for the manipulator's impedance controller. It runs in soft real-time on an external computer with approximately 20 Hz since access to inner controller loops is not available for the KMR iiwa. With the approach proposed in this paper, the robot successfully opened and traversed for 22 out of 25 trials at five different doors.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: conferenceObject
Publishing status: acceptedVersion
Issue Date: 2019
Appears in Collections:Fakultät für Maschinenbau

distribution of downloads over the selected time period:

downloads by country:

pos. country downloads
total perc.
1 image of flag of Germany Germany 34 50.75%
2 image of flag of United States United States 7 10.45%
3 image of flag of Japan Japan 4 5.97%
4 image of flag of China China 4 5.97%
5 image of flag of Hong Kong Hong Kong 3 4.48%
6 image of flag of No geo information available No geo information available 2 2.99%
7 image of flag of Romania Romania 2 2.99%
8 image of flag of Iran, Islamic Republic of Iran, Islamic Republic of 2 2.99%
9 image of flag of Israel Israel 2 2.99%
10 image of flag of Asia/Pacific Region Asia/Pacific Region 2 2.99%
    other countries 5 7.46%

Further download figures and rankings:


Hinweis

Zur Erhebung der Downloadstatistiken kommen entsprechend dem „COUNTER Code of Practice for e-Resources“ international anerkannte Regeln und Normen zur Anwendung. COUNTER ist eine internationale Non-Profit-Organisation, in der Bibliotheksverbände, Datenbankanbieter und Verlage gemeinsam an Standards zur Erhebung, Speicherung und Verarbeitung von Nutzungsdaten elektronischer Ressourcen arbeiten, welche so Objektivität und Vergleichbarkeit gewährleisten sollen. Es werden hierbei ausschließlich Zugriffe auf die entsprechenden Volltexte ausgewertet, keine Aufrufe der Website an sich.

Search the repository


Browse