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<p>Robotic operations such as opening doors in complex environments pose challenges due to unmodeled constraints and unknown interactions. This paper proposes a variable admittance control approach with both positional and orientational compliance for a wheeled mobile manipulator (WMM) to perform door-opening tasks while avoiding ground obstacles. The controller adaptively adjusts its parameters based on real-time motion states and estimated interaction forces and torques. Redundancy in the system enables simultaneous dual-trajectory tracking for the mobile base and the end-effector. A Lyapunov-based stability analysis guarantees system stability, and dedicated force/torque estimation experiments validate the interaction measurements. The method is implemented on an omnidirectional WMM performing a door-opening task with an obstacle in the base’s path. Experimental results demonstrate safe and compliant interaction, accurate trajectory tracking, and successful obstacle avoidance.</p>

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Variable admittance control for door opening with a wheeled mobile manipulator considering ground obstacles

  • 期刊论文

  • 发表日期：

    2026年3月2日

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  • Hongjun Xing,
  • Yanqing Liu,
  • Jinbao Chen,
  • Weihua Li,
  • Liang Ding,
  • Mahdi Tavakoli

摘要

Robotic operations such as opening doors in complex environments pose challenges due to unmodeled constraints and unknown interactions. This paper proposes a variable admittance control approach with both positional and orientational compliance for a wheeled mobile manipulator (WMM) to perform door-opening tasks while avoiding ground obstacles. The controller adaptively adjusts its parameters based on real-time motion states and estimated interaction forces and torques. Redundancy in the system enables simultaneous dual-trajectory tracking for the mobile base and the end-effector. A Lyapunov-based stability analysis guarantees system stability, and dedicated force/torque estimation experiments validate the interaction measurements. The method is implemented on an omnidirectional WMM performing a door-opening task with an obstacle in the base’s path. Experimental results demonstrate safe and compliant interaction, accurate trajectory tracking, and successful obstacle avoidance.