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.

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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 Openinghttp://dasl.mem.drexel.edu/wiki/images/d/d4/Door_Opening.pdf

' 1) Opening single Door outward and walking through'

' 2) Opening Double Door Outward and walking through'

' 2) Opening Single Door Inward and walking through'

' Preparing the Hardware '

' 1) Opening single Door outward '

' 2) Opening single Door inward '

' 3) Opening double Door outward '