Now showing items 21-40 of 49

    • Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of Technology, 2014-09)
      Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ...
    • Informing Assistive Robots with Models of Contact Forces from Able-Bodied Face Wiping and Shaving 

      Hawkins, Kelsey P.; King, Chih-Hung; Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)
      Hygiene and feeding are activities of daily living (ADLs) that often involve contact with a person's face. Robots can assist people with motor impairments to perform these tasks by holding a tool that makes contact with ...
    • An investigation of responses to robot-initiated touch in a nursing context 

      Chen, Tiffany L.; King, Chih-Hung Aaron; Thomaz, Andrea L.; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-10)
      Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot’s actions. For some domains, such as healthcare, a robot is likely to initiate ...
    • Laser Pointers and a Touch Screen: Intuitive Interfaces for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyAssociation for Computing Machinery (ACM), 2008-10)
      El-E (“Ellie”) is a prototype assistive robot designed to help people with severe motor impairments manipulate everyday objects. When given a 3D location, El-E can autonomously approach the location and pick up a nearby ...
    • Lead Me by the Hand: Evaluation of a Direct Physical Interface for Nursing Assistant Robots 

      Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-03)
      When a user is in close proximity to a robot, physical contact becomes a potentially valuable channel for communication. People often use direct physical contact to guide a person to a desired location (e.g., leading a ...
    • A List of Household Objects for Robotic Retrieval Prioritized by People with ALS 

      Choi, Young Sang; Deyle, Travis; Chen, Tiffany L.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-06)
      Studies have consistently shown that object retrieval would be a valuable task for assistive robots to perform, yet detailed information about the needs of patients with respect to this task has been lacking. In this paper, ...
    • Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact 

      Bhattacharjee, Tapomayukh; Wade, Joshua; Kemp, Charles C. (Georgia Institute of Technology, 2015)
      When making contact with an object, a robot can use a tactile sensor consisting of a heating element and a temperature sensor to recognize the object’s material based on conductive heat transfer from the tactile sensor ...
    • Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation 

      Park, Daehyung; Erickson, Zackory; Bhattacharjee, Tapomayukh; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
      Online detection of anomalous execution can be valuable for robot manipulation, enabling robots to operate more safely, determine when a behavior is inappropriate, and otherwise exhibit more common sense. By using ...
    • Older Adults Medication Management in the Home: How can Robots Help? 

      Prakash, Akanksha; Beer, Jenay M.; Deyle, Travis; Smarr, Cory-Ann; Chen, Tiffany L.; Mitzner, Tracy L.; Kemp, Charles C.; Rogers, Wendy A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)
      Successful management of medications is critical to maintaining healthy and independent living for older adults. However, medication non-adherence is a common problem with a high risk for severe consequences [5], which can ...
    • Operating articulated objects based on experience 

      Sturm, Jürgen; Jain, Advait; Stachniss, Cyrill; Kemp, Charles C.; Burgard, Wolfram (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates ...
    • Perceiving Clutter and Surfaces for Object Placement in Indoor Environments 

      Schuster, Martin J.; Okerman, Jason; Nguyen, Hai; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      Handheld manipulable objects can often be found on flat surfaces within human environments. Researchers have previously demonstrated that perceptually segmenting a flat surface from the objects resting on it can enable ...
    • A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation 

      Kemp, Charles C.; Anderson, Cressel D.; Nguyen, Hai; Trevor, Alexander J. B.; Xu, Zhe (Georgia Institute of TechnologyAssociation for Computing Machinery (ACM), 2008-03)
      We present a novel interface for human-robot interaction that enables a human to intuitively and unambiguously se- lect a 3D location in the world and communicate it to a mo- bile robot. The human points at a location of ...
    • PPS-Tags: Physical, Perceptual and Semantic Tags for Autonomous Mobile Manipulation 

      Nguyen, Hai; Deyle, Travis; Reynolds, Matt S.; Kemp, Charles C. (Georgia Institute of Technology, 2009-10)
      For many promising application areas, autonomous mobile manipulators do not yet exhibit sufficiently robust performance. We propose the use of tags applied to task-relevant locations in human environments in order to help ...
    • Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation 

      Deyle, Travis; Kemp, Charles C.; Reynolds, Matt S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      We present a novel particle filter implementation for estimating the pose of tags in the environment with respect to an RFID-equipped robot. This particle filter combines signals from a specially designed RFID antenna ...
    • Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a ...
    • Pulling Open Novel Doors and Drawers with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      A large variety of doors and drawers can be found within human environments. Humans regularly operate these mechanisms without difficulty, even if they have not previously interacted with a particular door or drawer. In ...
    • Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm, 

      Bhattacharjee, Tapomayukh; Kapusta, Ariel; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      We demonstrate that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm. Allowing incidental contact with surrounding objects has benefits during manipulation ...
    • Reaching in clutter with whole-arm tactile sensing 

      Jain, Advait; Killpack, Marc D.; Edsinger, Aaron; Kemp, Charles C. (Georgia Institute of TechnologySage, 2013-04)
      Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive ...
    • RF vision: RFID receive signal strength indicator (RSSI) images for sensor fusion and mobile manipulation 

      Deyle, Travis; Nguyen, Hai; Reynolds, Matt S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In this work we present a set of integrated methods that enable an RFID-enabled mobile manipulator to approach and grasp an object to which a self-adhesive passive (battery-free) UHF RFID tag has been affixed. Our primary ...
    • RFID-Guided Robots for Pervasive Automation 

      Deyle, Travis; Nguyen, Hai; Reynolds, Matt S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-01-15)
      Passive UHF RFID tags are well matched to robots' needs. Unlike lowfrequency (LF) and high-frequency (HF) RFID tags, passive UHF RFID tags are readable from across a room, enabling a mobile robot to efficiently discover ...