Designing a behavior of a mobile robot equipped with a manipulator to open and pass through a door

Keiji Nagatani, Shin'ichi Yuta

Research output: Contribution to journalArticle

13 Citations (Scopus)


One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, proposed task is to realize a total behavior with opening a door and passing through a doorway by a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior by a robot, and show a simulation of robot motion series for this task. The key issue for realizing such behavior is cooperation between robot's function sub-systems, such as the locomotion control system, the manipulator control system and the sensor systems.

Original languageEnglish
Pages (from-to)53-64
Number of pages12
JournalRobotics and Autonomous Systems
Issue number1-2 SPEC. ISS.
Publication statusPublished - 1996 Apr 1



  • Cooperation behavior
  • Distributed control system
  • Mobile manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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