公开(公告)号：US20140200713A1

公开(公告)日：2014-07-17

申请号：US14215795

申请日：2014-03-17

Applicant: iRobot Corporation

Inventor： Thomas Allen ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

IPC: B25J5/00

CPC classification number: B25J5/007 ,  B25J11/009 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  Y10S901/01

Abstract: A method of operating a mobile robot includes grasping a feature of a door of a doorway with an end effector of a manipulator arm mounted on the robot and driving the robot while grasping the door feature to move the door to an open position. The method also includes driving the robot to maneuver the robot to contact the door and chock the door in the open position, releasing the door feature from the end effector after chocking the door, and driving the robot through the doorway.

Abstract translation: 操作移动机器人的方法包括：通过安装在机器人上的操纵臂的末端执行器来抓住门口门的特征，并且在抓住门特征以将门移动到打开位置的同时驱动机器人。 该方法还包括驱动机器人来操纵机器人以接触门并将门锁在打开位置，在闭合门之后将门特征从端部执行器释放，并且通过门口驱动机器人。