Designing strategy and implementation of mobile manipulator control system for opening door

Keiji Nagatani, Shin'ichi Yuta

Research output: Contribution to journalConference articlepeer-review

49 Citations (Scopus)


A goal of this research is to successfully accomplish a long distance navigation task, including 'Passing through a doorway', by an autonomous robot equipped with a manipulator. In our approach to this problem, we apply the concept of action primitives to the mobile manipulator control system. Action primitives are defined as unit elements of a complex behavior, such as door opening behavior. Basically, the action primitives control a robot according sequences of planned motion primitives. But as an important feature, each action primitive is designed with an error adjustment mechanism to cope with accumulated positioning error of the mobile base. In this paper, we report the design and implementation of action primitives for door opening behavior for our experimental robot, and show experimental results of an autonomous mobile manipulator's 'Passing through a doorway' using sequences of designed action primitives.

Original languageEnglish
Pages (from-to)2828-2834
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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