Now showing items 2-21 of 50

    • Assistive Mobile Manipulation for Self-Care Tasks Around the Head 

      Hawkins, Kelsey P.; Grice, Phillip M.; Chen, Tiffany L.; King, Chih-Hung; Kemp, Charles C. (Georgia Institute of Technology, 2014)
      Human-scale mobile robots with arms have the potential to assist people with a variety of tasks. We present a proof-of-concept system that has enabled a person with severe quadriplegia named Henry Evans to shave himself ...
    • 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 ...
    • Autonomously learning to visually detect where manipulation will succeed 

      Nguyen, Hai; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-09)
      Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. We present methods that ...
    • Behavior-Based Door Opening with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of Technology, 2009-06)
      Within this paper we present a set of behaviors that enable a mobile manipulator to reliably open a variety of doors. After a user designates a location within 20cm of the door handle, the robot autonomously locates the ...
    • Behaviors for Robust Door Opening and Doorway Traversal with a Force-Sensing Mobile Manipulator 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of Technology, 2008-06)
      Fully autonomous robots will often need to open doors and traverse doorways in order to freely operate within human environments, and assistive robots that open doors on command would potentially benefit the motor impaired. ...
    • Bio-inspired Assistive Robotics: Service Dogs as a Model for Human-Robot Interaction and Mobile Manipulation 

      Nguyen, Hai; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-10)
      Service dogs have successfully provided assistance to thousands of motor-impaired people worldwide. As a step towards the creation of robots that provide comparable assistance, we present a biologically inspired robot ...
    • A Clickable World: Behavior Selection Through Pointing and Context for Mobile Manipulation 

      Nguyen, Hai; Jain, Advait; Anderson, Cressel D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      We present a new behavior selection system for human-robot interaction that maps virtual buttons overlaid on the physical environment to the robotpsilas behaviors, thereby creating a clickable world. The user clicks on a ...
    • 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 ...
    • 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 ...
    • EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces 

      Nguyen, Hai; Anderson, Cressel D.; Trevor, Alexander J. B.; Jain, Advait; Xu, Zhe; Kemp, Charles C. (Georgia Institute of Technology, 2008-03-12)
      Objects within human environments are usually found on flat surfaces that are orthogonal to gravity, such as floors, tables, and shelves. We first present a new assistive robot that is explicitly designed to take advantage ...
    • EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologySpringer Netherlands, 2010-01-01)
      Assistive mobile robots that autonomously manipulate objects within everyday settings have the potential to improve the lives of the elderly, injured, and disabled. Within this paper, we present the most recent version of ...
    • Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control 

      Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Moving a robot arm quickly in cluttered and unmodeled workspaces can be difficult because of the inherent risk of high impact forces. Additionally, compliance by itself is not enough to limit contact forces due to ...
    • Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength 

      Deyle, Travis; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      We address the challenge of finding and navigating to an object with an attached ultra-high frequency radio- frequency identification (UHF RFID) tag. With current off-the- shelf technology, one can affix ...
    • A foveated passive UHF RFID system for mobile manipulation 

      Deyle, Travis; Anderson, Cressel D.; Kemp, Charles C.; Reynolds, Matt S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      We present a novel antenna and system architecture for mobile manipulation based on passive RFID technology operating in the 850 MHz - 950 MHz ultra-high-frequency (UHF) spectrum. This system exploits the electromagnetic ...
    • Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator 

      Choi, Young Sang; Chen, Tiffany L.; Jain, Advait; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009)
      Delivering an object to a user would be a generally useful capability for service robots. Within this paper, we look at this capability in the context of assistive object retrieval for motor-impaired users. We first describe ...
    • 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. ...
    • Human-Robot Interaction Studies for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyAAAI Press, 2009-03)
      We are developing an autonomous mobile assistive robot named El-E to help individuals with severe motor impairments by performing various object manipulation tasks such as fetching, transporting, placing, and delivering. ...
    • 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 ...
    • 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 ...