====== Darwin-OP Door Opening ======

This wiki page will have the updates of research related to the Darwin-op Door opening tasks. 

Designing different types of doors in DRC-Simulator. 

The following video shows different types of doors modeled on the DRC-Simulator, There are 3 types of doors here : 
  * Doors that open inwards
  * Doors that open outwards
  * Double doors
Each door has two types of mechanisms i.e. simple doors without friction and doors that close by themselves. 

{{youtube>txiKSJPMFTQ?large}}\\ 

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===== Summary of 5 Papers =====

 1) Autonomous Door Opening and Plugging In with a Personal Robot
 [[http://dasl.mem.drexel.edu/wiki/images/9/9f/Autonomous_Door_Opening_and_Plugging_In_with_a_Personal_Robot.pdf]]

 2) CHOMP  Gradient optimization Technique for Efficient motion Planning
 [[http://dasl.mem.drexel.edu/wiki/images/9/9f/CHOMP_Gradient_optimization_Technique_for_Efficient_motion_Planning.pdf]]

 3) Manipulation Planning with Goal Sets using Constrained Trajectory Optimization
 [[http://dasl.mem.drexel.edu/wiki/images/c/c0/Manipulation_Planning_with_Goal_Sets_using_Constrained_Trajectory_Optimization.pdf]]]

 4) Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
 [[http://dasl.mem.drexel.edu/wiki/images/8/84/Probabilistic_Roadmaps_for_Path_Planning_in_High-Dimensional_Configuration_Spaces.pdf]]

 5) Whole-body motion of a Humanoid robot for passing through a door
 [[http://dasl.mem.drexel.edu/wiki/images/3/37/Whole-body_motion_of_a_Humanoid_robot_for_passing_through_a_door.pdf]]


 Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening
 [[http://dasl.mem.drexel.edu/wiki/images/d/d4/Door_Opening.pdf]]

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===== Simulations of Darwin-OP Opening a Door and Walking Through =====

 **1) [[drexel_darwin_single_door_outward_sim|Opening single Door outward and walking through]]**


 **2) [[drexel_darwin_double_door_sim|Opening Double Door Outward and walking through]]**


 **3) [[drexel_darwin_single_door_inward_sim|Opening Single Door Inward and walking through]]**

===== Demonstration of the Door-opening Task on the Darwin-Op robot =====

 **[[drexel_darwin_hardware|Preparing the Hardware]]**

 **1) [[drexel_darwin_single_door_outward_real|Opening single Door outward]]**


 **2) [[drexel_darwin_single_door_inward_real|Opening single Door inward]]**


 **3) [[drexel_darwin_double_door_real|Opening double Door outward]]**