A Combined Approach to the Problem of Opening a Door with an Assistant Mobile Robot
This paper proposes a combined approach to the problem of opening a door with a mobile robot. In one hand, the detection of the doors and the doors handles is performed by means of a dedicated onboard camera. In the other hand, the mechanical interaction with the door handle is performed by means of a DC motor. Both devices have been designed in order to be included in the design of an assistive mobile robot. This combined proposal has been tested in a university facility where the contrast between the texture colors used in the structural elements has simplified the implementation of the visual detection procedures.
Keywordsassistive mobile robot opening door action door detection doors handles detection
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