Skip to main content

Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation

  • Liang Ding (a1), Kerui Xia (a1), Haibo Gao (a1), Guangjun Liu (a2) and Zongquan Deng (a1)...

This study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.

Corresponding author
*Corresponding author. E-mail:
Hide All
1. Ahmad, S., Zhang, H. and Liu, G., “Multiple working mode control of door-opening with a mobile modular and reconfigurable robot,” IEEE/ASME Trans. 2, 115122 (2012).
2. Brooks, R., Aryananda, L., Edsinger, A., Fitzpatrick, P., Kemp, C., O'Reilly, U. M., Torres-Jara, E., Varshavskaya, P. and Weber, J., “Sensing and manipulating built-for-human environments,” Int. J. Humanoid Robot. 1 (1), 128 (2004).
3. Chung, W., Rhee, C., Shim, Y., Lee, H. and Park, S., “Door-Opening control of a service robot using the multifingered robot hand,” IEEE Trans. Ind. Electron. 56 (10), 39753984 (2009).
4. Ding, L., Gao, H., Xia, K., Liu, Z., Tao, J. and Liu, Y., “Adaptive sliding mode control of mobile manipulators with Markovian switching joints,” J. Appl. Mathematics, 10 (3), 812836 (2012).
5. Huang, W., Tanie, K. and Sugano, S., “Coordinated motion planning for a mobile manipulator considering stability and manipulation,” Int. J. Robot. Res. 19 (8), 732742 (2000).
6. Inoue, F. and Murakami, T., “A motion control of mobile manipulator with external force,” IEEE/ASME Trans. Mechatronics, 6 (2), 137142 (2001).
7. Jamisola, R., Ang, M., Oetomo, D., Khatib, O., Lim, T. and Lim, S., “The Operational Space Formulation Implementation to Aircraft Canopy Polishing using a Mobile Manipulator,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington. New York: IEEE Press, vol. 1 (2002) pp. 400–405.
8. Katsura, S., Matsumoto, Y. and Ohnishi, K., “Modeling of force sensing and validation of disturbance observer for force control,” IEEE Trans. Ind. Electron. 54 (1), 530538 (2007).
9. Khatib, O., Yokoi, K., Brock, O., Chang, K. and Casal, A., “Robots in human environment: Basic autonomous capabilities,” Int. J. Robot. Res. 18 (7), 684696 (1999).
10. Kim, D., Kang, J., Hwang, C. and Park, K., “Mobile Robot for Door Opening in a House,” In: Knowledge-Based Intelligent Information and Engineering Systems, Vol. LNAI-3215 (Springer-Verlag, New York, 2004) (pp. 596602).
11. Klingbeil, E., Saxena, A. and Ng, A. Y., “Learning to Open New Doors,” AAAI 17th Annual Robot Workshop and Exhibition, Chicago (2008) pp. 2751–2757.
12. Kobayashi, S., Kobayashi, Y., Yamamoto, Y., Watanabe, T., Ohtsubo, Y., Inoue, T., Yasuda, M. and Takamori, Y., “Development of a Door Opening System on Rescue Robot for Search' UMRS-2007,” Proceedings of the SICE Annual Conference, Tokyo. Tokyo: The Society of Instrument and Control Engineers (SICE) (2008) pp. 2062–2065.
13. Kragic, D., Petersson, L. and Christenseni, H. I., “Visually guided manipulation tasks,” Robot. Autonomous Syst. 40 (2), 193203 (2002).
14. Li, Z., Ge, S. S., Adams, M. and Wijesoma, W. S., “Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators,” IEEE Trans. Control Syst. Technol. 16 (6), 13081315 (2008a).
15. Li, Z., Ge, S. S., Adams, M. and Wijesoma, W. S., “Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators,” Automatica, 44 (3), 776784 (2008b).
16. Li, Z., Ge, S. S. and Wang, Z., “Robust adaptive control of coordinated multiple mobile manipulators,” Mechatronics, 18, 239250 (2008).
17. Liu, G., “Decomposition-based friction compensation of mechanical systems,” Mechatronics, 12 (5), 755769 (2002).
18. Liu, G., Goldenberg, A. A. and Zhang, Y., “Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation,” Mechatronics, 14 (7), 821834 (2004).
19. Nagatani, K. and Yuta, S., “Designing a Behavior to Open a Door and to Pass Through a Door-Way Using a Mobile Robot Equipped with a Manipulator,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots & Systems, vol. 2, Munich, New York: IEEE Press, vol. 2 (1994) pp. 847–853.
20. Nagatani, K. and Yuta, S. I., “An Experiment on Opening-Door-Behavior by an Autonomous Mobile Robot with a Manipulator,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots & Systems, vol. 2, Pittsburgh. New York: IEEE Press, vol. 2 (1995) pp. 45–50.
21. Nagatani, K. and Yuta, S., “Designing Strategy and Implementation of Mobile Manipulator Control System for Opening Door,” Proceedings of the IEEE International Conference on Robotics & Automation, vol. 3, Minneapolis. New York: IEEE Press, vol. 3 (1996) pp. 2828–2834.
22. Niemeyer, G. and Slotine, J. J. E., “A Simple Strategy for Opening an Unknown Door,” Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, Albuquerque. New York: IEEE Press, vol. 2 (1997) pp. 1448–1453.
23. Petersson, L., Austin, D. and Kragic, D., “High-Level Control of a Mobile Manipulator for Door Opening,” Proceedings of the IEEE/RSJ International Conference on Robots and Systems, vol. 3, Takamatsu. New York: IEEE Press, vol. 3 (2000) pp. 2333–2338.
24. Petersson, L., Austin, D., Kragic, D. and Christensen, H. I., “Towards an Intelligent Service Robot System,” Proceedings of the International Conference on Intelligent Autonomous Systems, Venice (2000) pp. 704–709.
25. Xia, K., Ding, L., Gao, H., Deng, Z., Liu, G. and Wu, Y., “Switch Control for Operating Constrained Mechanisms Using a Rescuing Mobile Manipulator with Multiple Working Modes,” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), (Oct. 2016) (pp. 139–146).
26. Waarsing, B. J. W., Nuttin, M. and van Brussel, H., “Behaviour-based Mobile Manipulation: The Opening of a Door,” Proceedings of the 1st International Workshop on Advanced Serv. Robot., Bardolino (2003) pp. 168–175.
27. Zhang, H., Ahmad, S. and Liu, G., “Torque estimation for robotic joint with harmonic drive transmission based on position measurements,” IEEE Trans. Robot. 31 (2), 322330 (2015).
28. Xia, K., Gao, H., Ding, L., Liu, G., Deng, Z., Liu, Z. and Ma, C., “Trajectory Tracking Control of Wheeled Mobile Manipulator Based on Fuzzy Neural Network and Extended Kalman Filtering,” In: Neural Computing and Applications (2016) pp. 1–16.
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *



Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed