Pulling open novel doors and drawers with equilibrium point control

DOI: 10.1109/ICHR.2009.5379532

关键词: Human–computer interaction 、 Equilibrium point 、 Control (linguistics) 、 Humanoid robot 、 Kinematics 、 Doors 、 Simulation 、 Robot end effector 、 Computer science 、 Robot kinematics 、 Process (computing)

摘要: 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 enable humanoid robot to pull open detailed prior models, infer their kinematics in the process.