Hybrid control of door-opening by modular re-configurable Robots

In this paper, we study the problem of door-opening by using modular reconfigurable robot (MRR). Based on multiple working mode control of the joint modules of the MRR, we first propose an online mode-switch strategy for all joint modules so that each joint module can be easily determined when it should be switched between active working mode and passive working mode during the door-opening process. Based on the proposed mode-switch strategy, a hybrid control scheme is proposed for door-opening. Simulation results are used to demonstrate the validity and efficiency of the proposed mode-switch strategy and the hybrid control scheme.