Automated door opening scheme for non-holonomic mobile manipulator

This paper describes a scheme on automated door opening for a non-holonomic mobile manipulator. The perception is done with a fast 2D door plane scan and followed by a 3D door handle recognition. A driving planner is used to drive robot to the intended spot in front of the door with minimum off center error. Then, a simple yet effective downstroke motion of the arm is used to turn the handle. Finally, experiments is used to validate and evaluate the proposed scheme.