Pulling open novel doors and drawers with equilibrium point control

A large variety of doors and drawers can be found within human environments. Humans regularly operate these mechanisms without difficulty, even if they have not previously interacted with a particular door or drawer. In this paper, we empirically demonstrate that equilibrium point control can enable a humanoid robot to pull open a variety of doors and drawers without detailed prior models, and infer their kinematics in the process.

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