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A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.<\/jats:p>","DOI":"10.1017\/s0263574717000200","type":"journal-article","created":{"date-parts":[[2017,5,3]],"date-time":"2017-05-03T07:49:50Z","timestamp":1493797790000},"page":"119-140","source":"Crossref","is-referenced-by-count":23,"title":["Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation"],"prefix":"10.1017","volume":"36","author":[{"given":"Liang","family":"Ding","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kerui","family":"Xia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haibo","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangjun","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zongquan","family":"Deng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2017,5,3]]},"reference":[{"key":"S0263574717000200_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2402511"},{"key":"S0263574717000200_ref26","unstructured":"B. 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Kragic , \u201cHigh-Level Control of a Mobile Manipulator for Door Opening,\u201d Proceedings of the IEEE\/RSJ International Conference on Robots and Systems, vol. 3, Takamatsu. New York: IEEE Press, vol. 3 (2000) pp. 2333\u20132338.","DOI":"10.1109\/IROS.2000.895316"},{"key":"S0263574717000200_ref14","doi-asserted-by":"crossref","first-page":"1308","DOI":"10.1109\/TCST.2008.917228","article-title":"Adaptive robust output-feedback motion\/force control of electrically driven nonholonomic mobile manipulators","volume":"16","author":"Li","year":"2008","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"S0263574717000200_ref2","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000022"},{"key":"S0263574717000200_ref12","doi-asserted-by":"crossref","unstructured":"S. Kobayashi , Y. Kobayashi , Y. Yamamoto , T. Watanabe , Y. Ohtsubo , T. Inoue , M. Yasuda and Y. 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