ROBOTIC SOLUTION FOR OPENING DOORS IN CONTAINED OR HIGH BIOLOGICAL RISK FACILITIES

Abstract

In a context of a pandemic caused by the SARS-CoV-2 virus, there is a need to disinfect busy areas such as schools, hospitals, nursing homes, laboratories, public transport, etc. using techniques that pose a risk to health. In turn, the robotics industry is at a critical moment with great developments and applications in numerous applications. Therefore, the figure of robots is of great interest as they have the ability to perform these tasks autonomously. However, there are great challenges in current robotics that must be resolved in order to perform tasks correctly. This is the specific case of door opening. Something necessary since to achieve a complete disinfection the robot must go through all the rooms of the installation. In this work, a solution to the problem of opening doors is presented by means of a mobile robot to which artificial perception techniques are applied for detection, handling and autonomous navigation. Keywords: autonomous navigation, artificial perception, learning by demonstration, skills-based programming, door opening, AIMM, mobile robotics, sensor fusion