Multi-sensory Feedback Control in Door Approaching and Opening

  • Tomasz WiniarskiEmail author
  • Konrad Banachowicz
  • Dawid Seredyński
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 323)


In the article the robotic system behavior is investigated for the complex door opening task. The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an impedance way and the BarrettHand gripper, which is controlled in a position way. The system utilizes multi-sensory feedback. The visual feedback is used to roughly localize door and to plan a door approach trajectory. The tactile feedback detects the contact with the door, and handle and determines an exact contact position with the handle. The system does not form a grip in a door opening stage, but the contact between the robot and the door is maintained by the gripper’s fingers (with intrinsic backlash), which are pushing the handle from its one side. This concept allows to open the door when there are obstacles in the neighborhood of the handle (e.g. door jamb or frame), which make the grip impossible.


service robot impedance control tactile sensing 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Tomasz Winiarski
    • 1
    Email author
  • Konrad Banachowicz
    • 1
  • Dawid Seredyński
    • 1
  1. 1.Warsaw University of TechnologyWarsawPoland

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