Robot Door Traversal Using Detected Swing and Grasp Properties
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Solution Overview
Problem
Robots are limited in their ability to interact with structures like doors due to lack of information about door properties such as weight, automatic closure, closure speed, and clearance, restricting their navigation and exploration capabilities, especially in environments with doors that require human intervention for access.
Innovation Solution
A computer-implemented method using sensor data from robots to detect door properties like width, grasp type, swing direction, and handedness, enabling autonomous door movement operations without human intervention, allowing robots to explore buildings with doors independently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robots use traditional sensor and control systems for door interaction, then the system structure is simple, but the robot cannot accurately detect door properties and execute appropriate movement operations
Solution Approach 1:
The patent applies multi-functionality by integrating multiple door detection capabilities (width, weight, automatic closure, closure speed, clearance, swing direction) into a unified sensor system. The sensor system serves multiple purposes: detecting door properties, determining movement operations, and guiding robot navigation, thereby improving measurement precision without proportionally increasing system complexity.
Solution Approach 2:
The patent introduces an intermediary processing layer that receives sensor data about door properties and translates it into appropriate movement operations. This intermediary system acts as a mediator between the physical door and the robot's control system, enabling accurate detection and response while managing system complexity through modular information processing.
2Adaptability or versatility
If robots are programmed with fixed door interaction protocols, then the control system is simple, but the robot cannot adapt to different door types and properties
Solution Approach 1:
The patent implements dynamics by making the door interaction protocol adaptive rather than fixed. The control system dynamically adjusts movement operations based on real-time detection of door properties such as width, weight, automatic closure, closure speed, clearance, and swing direction. This allows the robot to adapt to different door types while the system maintains manageable complexity through rule-based decision making.
Solution Approach 2:
The patent applies parameter changes by modifying movement operation parameters based on detected door properties. The system changes parameters such as approach speed, grasping force, pushing force, and timing of movements according to the specific door characteristics detected, enabling versatile door interaction without requiring complex adaptive algorithms.
3Productivity
If robots require human intervention for door access, then safety is improved, but navigation and exploration capabilities are restricted
Solution Approach 1:
The patent applies self-service by enabling the robot to independently detect door properties and execute appropriate movement operations without human intervention. The robot serves itself by autonomously determining how to interact with different door types based on sensor data, thereby improving navigation and exploration capabilities while maintaining acceptable safety through programmed protocols.
Data Source
AI summary
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to receive sensor data associated with a door. The data processing hardware determines, using the sensor data, door properties of the door. The door properties can include a door width, a grasp search ray, a grasp type, a swing direction, or a door handedness. The data processing hardware generates a door movement operation based on the door properties. The data processing hardware can execute the door movement operation to move the door. The door movement operation can include pushing the door, pulling the door, hooking a frame of the door, or blocking the door. The data processing hardware can utilize the door movement operation to enable a robot to traverse a door without human intervention.