Too often I've heard: why make a robot open doors with it manipulator, just install a door opener on the door!
Fits the bill here exactly: making a better robot helps you scale. Only relatively recently that robots opening doors became a reasonable thing to ask fo, but not much robots yet that do this at scale I think.
The true answer is that it is hard, and requies very carefull analysis.
Putting a “door opener” on the robot is sometimes at no extra marginal cost. (Because it already has a manipulator to fullfill its job.) Sometimes it would make the robot cost prohibitive, and the correct solution is to use automatic doors. Depends on how many doors there are and how many robots, and what kind of robot and what kind of door.
Then again even if the correct solution in a particular situation is to add door opening manipulators on the robots very likely you would only want to support a few different kinds of handles. Imagine the complications of trying to support all door handles from baroque brass levers through modern spherical knobs to dogged doors the kind you find on a warship.
I’m not aware of any. If a particular problem domain would require the robots to use door handles I would identify that as a big risk to the project. Not impossible to solve, but a significant problem.
Too often I've heard: why make a robot open doors with it manipulator, just install a door opener on the door! Fits the bill here exactly: making a better robot helps you scale. Only relatively recently that robots opening doors became a reasonable thing to ask fo, but not much robots yet that do this at scale I think.