Now showing items 14-33 of 52

    • 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 ...
    • 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 ...
    • Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments 

      Park, Daehyung; Kapusta, Ariel; Hawke, Jeffrey; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping ...
    • 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 ...
    • Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter 

      Park, Daehyung; Kapusta, Ariel; Kim, You Keun; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      Often in highly-cluttered environments, a robot can observe the exterior of the environment with ease, but cannot directly view nor easily infer its detailed internal structure (e.g., dense ...
    • 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, ...
    • 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 ...