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About this paper
Kasra Sinaei, Kasun Weerakoon, Christopher Bradley, Seyed Abolfazl Fakoorian, Donald Ebeigbe
The authors present a mobile-manipulator planner coordinating base motion with a hinged door’s rotation to traverse doorways. It represents base and door state and uses a soft penalty when the handle lies outside the arm’s reach region, without modeling arm kinematics. Simulations show traversal of push and pull doors, while hardware demonstrates warehouse-door traversal; execution still relies on separate controllers.
Summary by alphaXiv.
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