Now showing items 26-45 of 52

    • 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 ...
    • 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 ...
    • A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning 

      Bhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object ...
    • 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 ...
    • 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 ...