8) Manipulation of the Service Robot PSR1

      

Figure 13: Door opening manipulation of the PSR1

One of the major research issues of the PSR1 is a mobile manipulation application. A door opening control is successfully carried out by coordinative manipulation of a hand, a manipulator and a mobile base. By exploiting fingertip force sensor information and a kinematic structure of the multi-fingered hand, a door knob position can be estimated by active sensing strategy. A door orientation can be also estimated by a hand-arm coordinative manipulation. Taking account of different physical characteristics of each robotic component, integrated motion control strategy was developed in order to deal with various positional uncertainties in real environment.


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