Door-Opening Motion Generation Using DAE Modeling for Mobile Manipulators

摘要

This paper describes a motion generation method for a robot performing door-opening tasks. Unlike prior studies that divided the door-opening task into subproblems, we propose a single computation approach to obtain robot motions. To achieve this, we construct a robot model utilizing differential algebraic equations (DAE) derived from the differential kinematics of mobile manipulators. Additionally, we present the formulation of a nonlinear optimization problem, including the definition of constraints for robot’s via points, collision avoidance, and others. We then present our experimental findings conducted in both simulated and real environments, involving various types of hinged doors. We confirmed that the proposed method can generate suitable motions for door opening, both for the robot itself and for others.