Chapter 40 — Mobility and Manipulation

Adaptive force/velocity control for opening unknown doors

We propose a method that can open doors without prior knowledge of the door's kinematics. The method consists of a velocity controller that uses force measurements and estimates of the radial direction based on adaptive estimates of the position of the door hinge. The control action is decomposed into an estimated radial and tangential direction, following the concept of hybrid force/motion control.
Yiannis Karayiannidis, Colin Smith, Francisco E. Vina, Petter Ogren, Danica Kragic