Paper
23 May 2011 Aladdin: a semi-autonomous door opening system for EOD-class robots
Jack Craft, Jack Wilson, Wesley H. Huang, Mark R. Claffee, Emilie A. Phillips
Author Affiliations +
Abstract
This paper describes our results to date on the Aladdin project, an ongoing effort to enable small UGVs to open doors semi-autonomously. Our system consists of a modular general-purpose gripper and software that provides semiautonomous capabilities. The gripper features compliant elements which simplify operations such as turning a doorknob and opening a door; this gripper can be retrofitted onto existing general-purpose robotic manipulators without extensive hardware modifications. The software provides semi-autonomous door opening capability through an OCU; these capabilities are focused on targeting and reaching for a doorknob, a subtask that our initial testing showed would provide the greatest improvement in door opening operations. This paper describes our system and the results of our evaluations on the door opening task. We continue to develop both the hardware and software with the ultimate goal of fully autonomous door-opening.
© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jack Craft, Jack Wilson, Wesley H. Huang, Mark R. Claffee, and Emilie A. Phillips "Aladdin: a semi-autonomous door opening system for EOD-class robots", Proc. SPIE 8045, Unmanned Systems Technology XIII, 804509 (23 May 2011); https://doi.org/10.1117/12.884204
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Cited by 4 scholarly publications.
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KEYWORDS
Robots

Robotic systems

Robotics

Software development

Sensors

Buildings

Commercial off the shelf technology

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