Autonomous Door Traversal Behaviors
Equipped with a new behavior architecture, Nadia navigates and traverses many types of doors autonomously. Nadia also demonstrates robustness to failed grasps and door opening attempts by automatically retrying and continuing. We present the robot with pull and push doors, four types of opening mechanisms, and even spring-loaded door closers. A deep neural network and door plane estimator allow Nadia to identify and track the doors.
The corresponding research paper is available as a preprint on ArXiv: https://arxiv.org/abs/2411.03532