Pulling open doors and drawers: Coordinating an omni-directional base and a compliant arm with Equilibrium Point control

Abstract

Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a fixed position to robustly pull open a variety of doors and drawers, and infer their kinematics without detailed prior models.