A simple strategy for opening an unknown door. Niemeyer, G. & Slotine, J. J. E. In Proceedings of International Conference on Robotics and Automation, volume 2, pages 1448–1453 vol.2, April, 1997. doi abstract bibtex Many robotic applications involve interactions with a simple mechanism, such as opening a door or turning a crank. Implementing such tasks using standard controllers may require precise knowledge of the kinematics or result in prohibitively large internal forces. We propose a simple method that learns the shape of the mechanism while in motion and generates little internal forces, in essence following the path of least resistance. The discussion is illustrated experimentally
@inproceedings{niemeyer_simple_1997,
title = {A simple strategy for opening an unknown door},
volume = {2},
doi = {10.1109/ROBOT.1997.614341},
abstract = {Many robotic applications involve interactions with a simple mechanism, such as opening a door or turning a crank. Implementing such tasks using standard controllers may require precise knowledge of the kinematics or result in prohibitively large internal forces. We propose a simple method that learns the shape of the mechanism while in motion and generates little internal forces, in essence following the path of least resistance. The discussion is illustrated experimentally},
booktitle = {Proceedings of {International} {Conference} on {Robotics} and {Automation}},
author = {Niemeyer, G. and Slotine, J. J. E.},
month = apr,
year = {1997},
keywords = {Dynamics, Humans, Laboratories, Motion control, Robots, Shape, Turning, Uncertainty, direction estimation, door opening, filtering, filtering theory, force control, kinematics, least resistance path, manipulator dynamics, manipulator kinematics, nonlinear systems, robotic manipulators},
pages = {1448--1453 vol.2}
}
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