This paper describes our results to date on the Aladdin project, an ongoing effort to enable small UGVs to open doors
semi-autonomously. Our system consists of a modular general-purpose gripper and software that provides semiautonomous
capabilities. The gripper features compliant elements which simplify operations such as turning a doorknob
and opening a door; this gripper can be retrofitted onto existing general-purpose robotic manipulators without extensive
hardware modifications. The software provides semi-autonomous door opening capability through an OCU; these
capabilities are focused on targeting and reaching for a doorknob, a subtask that our initial testing showed would provide
the greatest improvement in door opening operations. This paper describes our system and the results of our evaluations
on the door opening task. We continue to develop both the hardware and software with the ultimate goal of fully
autonomous door-opening.
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