Institute for Robotics and Intelligent Machines (IRIM)
Launched on November 4, 2013, the Institute for Robotics and Intelligent Machines (IRIM) evolved into Georgia Tech’s newest Interdisciplinary Research Institute (IRI), built upon the foundational work developed in the former Robotics & Intelligent Machines Center (RIM@Georgia Tech). IRIM brings together robotics researchers from across campus—spanning colleges, departments and individual labs—to create new collaborative opportunities for faculty, strengthen partnerships with industry and government and maximize the societal impact of the transformative robotics research conducted at Georgia Tech.
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IRIM Articles and Papers [1404]
Recent Submissions
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Robotic and Wearable Sensing Technologies for Movement Rehabilitation After Neurologic Injury
(Georgia Institute of Technology, 2018-11-28)Robotic therapy refers now to a diverse set of technologies and algorithms that can match or improve the clinical benefits achievable with conventional rehabilitation therapies after stroke and other neurologic injuries. ... -
Delivering the Benefits of Self-Driving Technology Safely, Quickly, and Broadly
(Georgia Institute of Technology, 2018-11-07)We are in a new era of mobility. Synergistic changes within the automotive industry are occurring simultaneously that have the potential to reduce important social costs: electric cars, ride sharing, and self-driving ... -
Data-to-Decisions for Safe Autonomous Flight
(Georgia Institute of Technology, 2018-11-07)Traditional sensor data can be augmented with new data sources such as roadmaps and geographical information system (GIS) Lidar/video to offer emerging unmanned aircraft systems (UAS) and urban air mobility (UAM) a new ... -
Accelerated Optimization in the PDE Framework
(Georgia Institute of Technology, 2018-10-24)Following the seminal work of Nesterov, accelerated optimization methods (sometimes referred to as momentum methods) have been used to powerfully boost the performance of first-order, gradient-based parameter estimation ... -
Pilot Study For Examining Human-Robot Trust In Healthcare Interventions Involving Sensitive Personal Information
(Georgia Institute of TechnologyRehabilitation Engineering and Assistive Technology Society of North America, 2017-07)Socially interactive humanoid robots have been widely used in physical therapy and rehabilitation for children with motor disabilities. Previous studies have shown that embedding human-like behavior on a robotic playmate ... -
Mechanical Intelligence in Robotic Manipulation: Towards Human-Level Dexterity in Robotic and Prosthetic Hands
(Georgia Institute of Technology, 2018-10-10)The human hand is the pinnacle of dexterity – it has the ability to powerfully grasp a wide range of object sizes and shapes as well as delicately manipulate objects held within the fingertips. Current robotic and prosthetic ... -
Mathematics and Learning for Agile and Dynamic Bipedal Locomotion
(Georgia Institute of Technology, 2018-09-26)Is it great fortune or a curse to do legged robotics on a university campus that has Maya Lin’s earthen sculpture, The Wave Field? Come to the talk and find out! Our work on model-based feedback control for highly dynamic ... -
Robotic Skins That Turn Inanimate Objects Into Multifunctional Robots
(Georgia Institute of Technology, 2018-09-12)Robots generally excel at specific tasks in structured environments, but lack the versatility and adaptability required to interact with and locomote within the natural world. To increase versatility in robot design, my ... -
Creating Robots That See
(Georgia Institute of Technology, 2018-08-29)This talk will define and motivate the problem of robotic vision, the challenges as well as recent progress at the Australian Centre for Robotic Vision. This includes component technologies such as novel cameras, deep ... -
Deep Learning to Learn
(Georgia Institute of Technology, 2018-08-20)Reinforcement learning and imitation learning have seen success in many domains, including autonomous helicopter flight, Atari, simulated locomotion, Go, robotic manipulation. However, sample complexity of these methods ... -
Towards Using Visual Attributes to Infer Image Sentiment Of Social Events
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2017)Widespread and pervasive adoption of smartphones has led to instant sharing of photographs that capture events ranging from mundane to life-altering happenings. We propose to capture sentiment information of such social ... -
Selfie-Presentation in Everyday Life: A Large-scale Characterization of Selfie Contexts on Instagram
(Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2017)Carefully managing the presentation of self via technology is a core practice on all modern social media platforms. Recently, selfies have emerged as a new, pervasive genre of identity performance. In many ways unique, ... -
The Semi-Coaxial Multirotor
(2018-05)The ”semi-coaxial” multirotor configuration is presented including its advantages over the conventional coaxial rotor configuration. The semi-coaxial configuration retains the benefits of the coaxial configuration, and ... -
Geometry and Mechanics of Feet and Fins
(Georgia Institute of Technology, 2018-04-11)The stiffness of propulsive appendages, such as feet and fins, is important in locomotory function. In this talk, I show that curvature-induced stiffness is the common principle underlying the stiffness of both primate ... -
Soft Miniature Mobile Robots
(Georgia Institute of Technology, 2018-02-28)Soft functional materials could enable physical intelligence for small-scale (from a few millimeters down to a few micrometers overall size) mobile robots by enabling them with unique capabilities such as shape changing ... -
Robots with Privacy Stipulations
(Georgia Institute of Technology, 2018-02-14)In late July last year, it came to light that iRobot Corp. intended to sell the maps that modern Roomba vacuum cleaning robots build to help them navigate. This caused a public furor among consumers. This situation and ... -
Physics-Based Manipulation With and Around People
(Georgia Institute of Technology, 2018-01-31)Robots manipulate with super-human speed and dexterity on factory floors, but they fail even under moderate amounts of clutter or uncertainty. However, human teleoperators perform remarkable acts of manipulation with the ... -
Vision-Based Attitude Determination Using A SLAM Algorithm During Relative Circumnavigation Of Non-cooperative Objects
(Georgia Institute of Technology, 2016-09)We approach the problem of a chaser satellite circumnavigating a target object in a relative orbit. The objective is to obtain a map of the scenario and to measure the reciprocal position of the chaser-target pair, ... -
Performance Analysis of Three Cost Policies for the Control of a Camera in Relative Circumnavigation Scenarios
(Georgia Institute of Technology, 2016-09)In this paper, we address the relative navigation problem of a chaser circumnavigating a target. The chaser has an on-board camera and observes a set of features on the target; the goal is to obtain a detailed map of the ...
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