Multi-agent control architecture of mobile manipulators: pulling doors open

  • Authors:

  • A. Hentout;A. Kimouche;A. Aiter;M. R. Benbouali;B. Bouzouia

  • Affiliations:

  • Centre for Development of Advanced Technologies (CDTA), Computer-Integrated Manufacturing and Robotics (DPR), Algiers, Algeria;University of Sciences and Technology Houari Boumediene (USTHB), Algiers, Algeria;University of Sciences and Technology Houari Boumediene (USTHB), Algiers, Algeria;Centre for Development of Advanced Technologies (CDTA), Computer-Integrated Manufacturing and Robotics (DPR), Algiers, Algeria;Centre for Development of Advanced Technologies (CDTA), Computer-Integrated Manufacturing and Robotics (DPR), Algiers, Algeria

  • Venue:
  • ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
  • Year:
  • 2012

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Abstract

This paper presents a control approach of mobile manipulators so that they can carry out the task of pulling doors open. The approach is split up into five sub-tasks (i) the door is located and the handle is recognized by using the sensors of the robot (ii) the robot moves towards the door while avoiding obstacles so that its gripper can reach the handle (iii) the manipulator grasps the handle of the door (iv) the manipulator twists the handle following a predefined trajectory and, finally, (v) the robot carries out a coordinated movement by requesting both of the manipulator and the mobile base to achieve the task. The proposed approach is integrated into a multi-agent control architecture of mobile manipulators and implemented on RobuTER/ULM. Experimental results are presented and discussed to verify the performances of the approach.