A combined approach to the problem of opening a door with an assistant mobile robot

Abstract

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.