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

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dc.identifier.uri Stuede, Marvin eng Nuelle, Kathrin eng Tappe, Svenja eng Ortmaier, Tobias eng 2021-02-04T06:42:59Z 2021-02-04T06:42:59Z 2019
dc.identifier.citation 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: eng
dc.description.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. eng
dc.language.iso eng eng
dc.publisher Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers Inc.
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Robot kinematics eng
dc.subject Impedance eng
dc.subject Task analysis eng
dc.subject Three-dimensional displays eng
dc.subject Robot sensing systems eng
dc.subject End effectors eng
dc.subject.ddc 600 | Technik eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau
dc.title Door opening and traversal with an industrial cartesian impedance controlled mobile robot eng
dc.type conferenceObject eng
dc.type Text eng
dc.relation.doi 10.1109/ICRA.2019.8793866
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng

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