Now showing items 17-36 of 50

    • 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, ...
    • 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 ...