DOOR-OPENING BEHAVIOR OF AN AUTONOMOUS MOBILE MANIPULATOR BY SEQUENCEOF ACTION PRIMITIVES

A goal of this research is to accomplish a long distance navigation ta sk by an autonomous mobile manipulator, including a behavior of ''Pass ing through a doorway.'' In our approach to this problem, we apply the concept of action primitives to the mobile manipulator control system . Action primitives are defined as unit elements of a complex behavior (such as door opening behavior), which control a robot according to a sequence of planned motion primitives. An important feature of the co ncept is that each action primitive is designed to include an error ad justment mechanism to cope with the accumulated position error of the mobile base. In this article, we report on the design and implementati on of action primitives for a door opening task, and show experimental results for ''Passing through a doorway'' by an autonomous mobile man ipulator using sequences of action primitives. (C) 1996 John Wiley & S ons, Inc.