Now showing items 21-40 of 49

    • Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor 

      Fan, Zhengqin; King, Chih-Hung; Darb, Hamza; Kemp, Charles C. (Georgia Institute of Technology, 2010-06)
      Retrieval of dropped objects has consistently been ranked as a high priority task for assistive robots. We have previously presented a dustpan-inspired end effector capable of robustly grasping objects from the floor. In ...
    • Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task, 

      King, Chih-Hung; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2010-07)
      Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and ...
    • The complex structure of simple devices: A survey of trajectories and forces that open doors and drawers 

      Jain, Advait; Nguyen, Hai; Rath, Mrinal; Okerman, Jason; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-09)
      Instrumental activities of daily living (IADLs) involve physical interactions with diverse mechanical systems found within human environments. In this paper, we describe our efforts to capture the everyday mechanics of ...
    • 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 ...
    • Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene 

      King, Chih-Hung; Chen, Tiffany L.; Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection interface enables an ...
    • Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera 

      Killpack, Marc D.; Deyle, Travis; Anderson, Cressel D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility ...
    • 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 ...
    • Autonomous Active Learning of Task-Relevant Features for Mobile Manipulation 

      Nguyen, Hai; Kemp, Charles C. (Georgia Institute of Technology, 2011)
      We present an active learning approach that enables a mobile manipulator to autonomously learn task-relevant features. For a given behavior, our system trains a Support Vector Machine (SVM) that predicts the 3D locations ...
    • Touched By a Robot: An Investigation of Subjective Responses to Robot-initiated Touch 

      Chen, Tiffany L.; King, Chih-Hung; Thomaz, Andrea L.; Kemp, Charles C. (Georgia Institute of TechnologyACM Press, 2011-03)
      By initiating physical contact with people, robots can be more useful. For example, a robotic caregiver might make contact to provide physical assistance or facilitate communication. So as to better understand how people ...
    • The Wouse: A Wearable Wince Detector to Stop Assistive Robots 

      Grice, Phillip M.; Lee, Andy; Evans, Henry; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)
      Persons with severe motor impairments depend heavily upon caregivers for the performance of everyday tasks. Ongoing work is exploring the potential of giving motor-impaired users control of semi-autonomous assistive mobile ...
    • 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 ...
    • Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot's forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ...
    • Robots for Humanity: A Case Study in Assistive Mobile Manipulation 

      Chen, Tiffany L.; Ciocarlie, Matei; Cousins, Steve; Grice, Phillip M.; Hawkins, Kelsey; Hsiao, Kaijen; Kemp, Charles C.; King, Chih-Hung; Lazewatsky, Daniel A.; Nguyen, Hai; Paepcke, Andreas; Pantofaru, Caroline; Smart, William D.; Takayama, Leila (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)
      Assistive mobile manipulators have the potential to one day serve as surrogates and helpers for people with disabilities, giving them the freedom to perform tasks such as scratching an itch, picking up a cup, or socializing ...
    • 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 ...
    • 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 ...
    • Tactile Sensing over Articulated Joints with Stretchable Sensors 

      Bhattacharjee, Tapomayukh; Jain, Advait; Vaish, Sarvagya; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      Biological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors ...
    • ROS Commander (ROSCo): Behavior Creation for Home Robots 

      Nguyen, Hai; Ciocarlie, Matei; Hsiao, Kaijen; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We introduce ROS Commander (ROSCo), an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots. A user builds a behavior in the form of a Hierarchical Finite State Machine ...
    • In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation 

      Deyle, Travis; Tralie, Christopher J.; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed ...
    • Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance 

      Grice, Phillip M.; Killpack, Marc D.; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector ...
    • Improving robot manipulation with data-driven object-centric models of everyday forces 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-06)
      Based on a lifetime of experience, people anticipate the forces associated with performing a manipulation task. In contrast, most robots lack common sense about the forces involved in everyday manipulation tasks. In this ...