Dong W. Kim, Ju-Hyun Kang, and Gwi-Tae Park
Home service robot, mobile manipulator, door opening, human– robot interface
In this paper, we consider the task of opening a closed door by a home service robot equipped with a manipulator. The objective of this research is to successfully accomplish the door-opening task. The proposed robot is small and compact because a double-active universal joint (DAUJ) is adopted for the robotic joint mechanism of the manipulator; therefore, it is easy for the robot to move in a house through doorways. Inexpensive force sensors were employed for the door-opening task instead of expensive JR3 sensors for cost effectiveness in the robot. Practical experiments, including continuous robot motion pictures, demonstrated that the dooropening task was completed successfully by the proposed home service robot.
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