An improved framework for robotic door-opening task using Kinect and tactile information

Based on our previous work, this paper proposes an improved robotic door-opening framework. The improved framework has three components, grasping pattern, door-opening pattern, and semantic monitoring and exception handling. (1) Grasping pattern contains various grasping points and ways for different types of door knob. The point cloud of the target area is captured using Kinect sensor, and the door edge and knob is then extracted. (2) Determination of door-opening pattern includes sub operations and the corresponding trajectories. (3) By using semantic monitoring and exception handling, the tactile data from the gripper during the task execution is monitored based on which exceptional situation is assessed and handled. The proposed framework was validated by two normal door-opening experiments and two exception handling experiments using KUKA prototype.

[1]  Nico Blodow,et al.  CAD-model recognition and 6DOF pose estimation using 3D cues , 2011, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops).

[2]  S Cousins,et al.  ROS on the PR2 [ROS Topics] , 2010 .

[3]  Mark Summerfield.  Advanced Qt Programming : Creating Great Software with C++ and Qt 4 , 2010 .

[4]  Tomás Pajdla,et al.  3D with Kinect , 2011, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops).

[5]  Gary R. Bradski,et al.  Fast 3D recognition and pose using the Viewpoint Feature Histogram , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Guangjun Liu,et al.  Multiple Working Mode Control of Door-Opening With a Mobile Modular and Reconfigurable Robot , 2013, IEEE/ASME Transactions on Mechatronics.

[7]  Vijay Kumar,et al.  A single planner for a composite task of approaching, opening and navigating through non-spring and spring-loaded doors , 2013, 2013 IEEE International Conference on Robotics and Automation.

[8]  G. Hirzinger,et al.  The DLR-KUKA success story: robotics research improves industrial robots , 2005, IEEE Robotics & Automation Magazine.

[9]  Peter E. Hart,et al.  Nearest neighbor pattern classification , 1967, IEEE Trans. Inf. Theory.

[10]  Youngbum Jun,et al.  Continuous trajectory optimization for autonomous humanoid door opening , 2013, 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA).

[11]  Radu Bogdan Rusu,et al.  3D is here: Point Cloud Library (PCL) , 2011, 2011 IEEE International Conference on Robotics and Automation.

[12]  Jianwei Zhang,et al.  Kinect-based robotic manipulation for door opening , 2013, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[13]  Keng Peng Tee,et al.  Automated door opening scheme for non-holonomic mobile manipulator , 2013, 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013).

[14]  James A. Hendler,et al.  HTN Planning: Complexity and Expressivity , 1994, AAAI.

[15]  Konrad Banachowicz,et al.  Opening a door with a redundant impedance controlled robot , 2013, 9th International Workshop on Robot Motion and Control.