Confirmation and execution of door closing by a small robot based on open/close decisions using patrolling and body contact


When a small robot closes a door that is large and heavy compared to its own body, it has a problem that it cannot continue the task because it loses its posture due to its small size. In this study, to solve this problem, we realized a task to close a door while sequentially deciding whether to open or close it, by keeping its own posture when it closes the door by body contact with the door.

23rd SICE System Integration Division Annual Conference (SI2022)