Twisting door handle with manipulator under uncertainty

The paper presents a door opening strategy, a twisting door handle strategy, with a manipulator under uncertainty. The door opening is one of the basic yet important functions of mobile manipulators in operating in human environment. However, it can be a difficult task when the information about the door handle is not complete. In this paper, it is proposed to use compliant motion control and the motion constraint of the door handle to overcome the limitation of uncertain information. Specifically, the center of rotation point of the door handle is estimated while compliant motion control is applied in order to complete the door handle's twisting action. The performance of the proposed strategy is demonstrated by the experimental results.