Abstract. This paper presents a control approach of mobile manipulators so that they can carry out the task of pulling doors open. The approach is split up into five sub-tasks (i) the door is located and the handle is recognized by using the sensors of the robot (ii) the robot moves towards the door while avoiding obstacles so that its gripper can reach the handle (iii) the manipulator grasps.

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Mohamed Amine Bouskia This paper presents a trajectory planning methodology for a mobile manipulator whose end-effector has to follow a predefined operational trajectory while considering.

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