closing the door behind him

[azz]

a. He went out closing the door behind him.
b. He went out, closing the door behind him.

c. He shouted at her waking the children up.
d. He shouted at her, waking the children up.

Are the commas necessary?
Do they change anything in any way?

Many thanks

 

[Logos_]

There is a change, and an especially significant one in the second pair:

C. means that he shouted at her while she was waking the children.
D. means that his shouting at her caused the children to wake up.